Bridge circuit and robot

Abstract

The utility model provides a bridge circuit and a robot, and the bridge circuit comprises a driving power supply control module, the first end of the driving power supply control module is used for being coupled with a multi-axis servo driver of the robot, and the second end of the driving power supply control module is used for being coupled with a controller of the robot. The driving power supply control module is configured to receive a first control signal sent by the controller and supply power to the multi-axis servo driver; the first end of the safety module is used for being coupled with a torque turn-off module of the robot, the torque turn-off module is coupled with the multi-axis servo driver, the second end of the safety module is used for being coupled with the controller, and the safety module is configured to receive a second control signal sent by the controller; and the torque turn-off module is used for controlling the multi-axis servo driver to stop working. By means of the mode, the driving power supply control module and the safety module are used for achieving safety monitoring cut-off between the robot controller and the multi-axis servo driver, and safety risks caused by out-of-control of the driver or the mechanical arm are avoided.

Description

Technical Field

[0001] This application relates primarily to the field of robotics, and in particular to bridging circuits and robots. Background Technology

[0002] Most existing industrial robot control systems only use the ETHERCAT bus (Ethernet for Control Automation Technology) to achieve communication between the controller and the multi-axis servo drive. Once the ETHERCAT communication is interrupted or interfered with, it can easily cause the drive and the robotic arm to go out of control, resulting in great safety hazards. When the robot needs to stop urgently, it is impossible to cut off the control of the drive and the robotic arm in time, and there is still a risk that the robot will go out of control and move unexpectedly. Utility Model Content

[0003] The main purpose of this application is to provide bridging circuits and robots to solve the safety problems caused by driver or robotic arm malfunctions between the robot and multi-axis servo drives, so as to improve the safety and reliability of robot systems.

[0004] To address the aforementioned issues, this application provides a bridging circuit comprising: a drive power supply control module, wherein a first terminal of the drive power supply control module is coupled to a multi-axis servo drive of a robot, and a second terminal of the drive power supply control module is coupled to a controller of the robot; the drive power supply control module is configured to receive a first control signal sent by the controller and supply power to the multi-axis servo drive; and a safety module, wherein a first terminal of the safety module is coupled to a torque shutdown module of the robot, the torque shutdown module is coupled to the multi-axis servo drive, and a second terminal of the safety module is coupled to the controller; the safety module is configured to receive a second control signal sent by the controller and control the multi-axis servo drive to stop operating via the torque shutdown module.

[0005] To address the aforementioned issues, this application also provides a robot comprising: a multi-axis servo driver; an AC contactor, the input of which is connected to an AC power source, and the output of which is coupled to the multi-axis servo driver; a torque shutdown module coupled to the multi-axis servo driver; a bridging circuit coupled to the multi-axis servo driver, the torque shutdown module, and the AC contactor, wherein the bridging circuit is as described in any of the embodiments above; and a controller coupled to the bridging circuit.

[0006] The bridging circuit and robot provided in this application utilize the drive power supply control module to monitor and control the AC power supply of the multi-axis servo drive. When a fault is detected in the robot system, the AC power supply can be cut off in time to ensure safe use. Combined with the safety module, the torque shutdown module can be controlled and fed back to avoid the safety risks caused by the uncontrolled drive or robotic arm in the robot system, thereby improving the reliability and safety of the robot system. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0008] Figure 1 This is a schematic diagram of the structure of the first embodiment of the bridging circuit provided in this application;

[0009] Figure 2 This is a schematic diagram of the structure of the first embodiment of the drive power supply control module provided in this application;

[0010] Figure 3 This is a schematic diagram of the structure of the first embodiment of the power supply control unit provided in this application;

[0011] Figure 4 This is a schematic diagram of the structure of the second embodiment of the power supply control unit provided in this application;

[0012] Figure 5 This is a schematic diagram of the structure of the first embodiment of the contact feedback unit provided in this application;

[0013] Figure 6 This is a schematic diagram of the structure of the second embodiment of the contact feedback unit provided in this application;

[0014] Figure 7 This is a schematic diagram of the structure of an embodiment of the security module provided in this application;

[0015] Figure 8 This is a schematic diagram of the structure of the first embodiment of the torque shut-off control unit provided in this application;

[0016] Figure 9 This is a schematic diagram of the structure of the second embodiment of the torque shut-off control unit provided in this application;

[0017] Figure 10 This is a schematic diagram of the structure of the first embodiment of the torque shut-off feedback unit provided in this application;

[0018] Figure 11This is a schematic diagram of the structure of the second embodiment of the torque shut-off feedback unit provided in this application;

[0019] Figure 12 This is a schematic diagram of the structure of the first embodiment of the power failure detection module provided in this application;

[0020] Figure 13 This is a schematic diagram of the structure of the second embodiment of the power failure detection module provided in this application;

[0021] Figure 14 This is a schematic diagram of the structure of an embodiment of the heartbeat detection module provided in this application;

[0022] Figure 15 This is a schematic diagram of the structure of the first embodiment of the alarm feedback module provided in this application;

[0023] Figure 16 This is a schematic diagram of the structure of the second embodiment of the alarm feedback module provided in this application;

[0024] Figure 17 This is a schematic diagram of the structure of an embodiment of the manual brake release unit provided in this application;

[0025] Figure 18 This is a structural schematic diagram of an embodiment of the robot provided in this application.

[0026] Icon labels:

[0027] 100. Bridging circuit; 10. Drive power supply control module; 11. Power supply control unit; 110. First switching assembly; 111. First indicating assembly; 12. Contact feedback unit; 120. First isolation assembly; 121. Second isolation assembly; 122. Logic assembly; 20. Safety module; 21. Torque shutdown control unit; 210. Third isolation assembly; 211. Second switching assembly; 22. Torque shutdown feedback unit; 220. Fourth isolation assembly; 221. Second indicating assembly; 30. Alarm feedback module; 31. Fifth isolation assembly; 32. Third indicating assembly; 40. Power failure detection module; 41. Sixth isolation assembly; 42. Third switching assembly; 50. Heartbeat detection module; 60. Manual brake release unit; 300. Robot; 310. Torque shutdown module; 320. Multi-axis servo driver; 330. Controller; 340. AC contactor. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are only for explaining this application and not for limiting it. Furthermore, it should be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not all structures. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0029] The terms "first," "second," etc., used in this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0030] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0031] Most industrial robot control systems rely solely on the ETHERCAT bus (Ethernet for Control Automation Technology) for communication between the controller and multi-axis servo drives. If ETHERCAT communication is interrupted or interfered with, it can easily lead to malfunctions in the drives and the robotic arm, posing a significant safety hazard. To address these issues, this application provides a bridging circuit and robot to establish an independent hardware security link structure between the controller and the multi-axis servo drives. This solves the bridging problem between the industrial robot controller and the multi-axis servo drives, including establishing a complete and independent hardware security link, enabling the controller to control the on / off state of the AC power supply to the drives, and isolating monitoring signals and power supplies between the controller and the multi-axis drives.

[0032] See Figure 1 As shown, Figure 1This is a schematic diagram of the structure of the first embodiment of the bridging circuit provided in this application; wherein, the bridging circuit 100 includes: a drive power supply control module 10 and a safety module 20; specifically, the first end of the drive power supply control module 10 is used to couple to the multi-axis servo driver 320 of the robot 300, and the second end of the drive power supply control module 10 is used to couple to the controller 330 of the robot 300. The drive power supply control module 10 is configured to receive a first control signal sent by the controller 330 and supply power to the multi-axis servo driver 320; the first end of the safety module 20 is used to couple to the torque shutdown module 310 of the robot 300, and the torque shutdown module 310 is coupled to the multi-axis servo driver 320. The second end of the safety module 20 is used to couple to the controller 330. The safety module 20 is configured to receive a second control signal sent by the controller 330 and control the multi-axis servo driver 320 to stop working through the torque shutdown module 310.

[0033] In the above manner, the drive power supply control module 10 is used to monitor and control the AC power supply of the multi-axis servo drive 320. When a fault is detected in the robot 300 system, the AC power supply can be cut off in time to ensure safe use. Combined with the safety module 20, the torque shutdown module 310 is controlled and feedback is provided to avoid the safety risks caused by the loss of control of the drive or robotic arm in the robot 300 system, thereby improving the reliability and safety of the robot 300 system.

[0034] The multi-axis servo drive 320 lacks internal AC power supply on / off control functionality, requiring the integration of an external circuit breaker or AC contactor 340. However, the controller 330 typically only has low-voltage I / O signal interfaces and cannot directly control the circuit breaker or AC contactor 340. Therefore, without a bridge circuit 100 that has AC contactor 340 driving functionality, it is impossible to control the power supply of the multi-axis servo drive 320. When the robot 300 needs to stop urgently, the AC power supply to the drive and robotic arm cannot be cut off, and there is still a risk that the robot 300 will become uncontrollable and move unexpectedly.

[0035] Therefore, the following embodiment is specifically adopted in the drive power supply control module 10 to solve the above problems:

[0036] In one embodiment, such as Figure 2 As shown, Figure 2This is a schematic diagram of the structure of the first embodiment of the drive power supply control module provided in this application; wherein, the drive power supply control module 10 includes: a power supply control unit 11 and a contact feedback unit 12; specifically, the first end of the power supply control unit 11 is coupled to the controller 330, and the second end of the power supply control unit 11 is coupled to the control end of the AC contactor 340; wherein, the input end of the AC contactor 340 is used to connect to AC power, and the output end of the AC contactor 340 is coupled to the multi-axis servo driver 320; the first end of the contact feedback unit 12 is coupled to the output end of the AC contactor 340, and the second end of the contact feedback unit 12 is coupled to the controller 330, and is used to send a status signal to the controller 330, the status signal being used to characterize the on / off state of the AC contactor 340.

[0037] Specifically, the power supply control unit 11 drives the AC contactor 340 to control the on / off state of the AC power supply to the multi-axis servo drive 320. This monitors the AC power supply to the multi-axis servo drive 320 and, when necessary, cuts off the AC power supply to the multi-axis servo drive 320 to promptly stop unnecessary operations and achieve an emergency stop, thus preventing further safety risks from system malfunction. Combined with the contact feedback unit 12, the output signal of the AC contactor 340 is acquired to determine its actual on / off state, providing feedback and alarm monitoring. This completes the monitoring of normal system power supply, ensuring the reliability of system power supply and safe operation.

[0038] Based on the above scheme, the power supply control unit 11 and the contact feedback unit 12 are described in detail, and specific implementation schemes are introduced.

[0039] For power supply control unit 11:

[0040] In one embodiment, see Figure 3 As shown, Figure 3 This is a schematic diagram of the structure of the first embodiment of the power supply control unit provided in this application; wherein, the power supply control unit 11 includes: a first switch assembly 110 and a first indicator assembly 111; the first end of the first switch assembly 110 is coupled to the controller 330, the second end of the first switch assembly 110 is used to connect to an AC power source, and the third end of the first switch assembly 110 is coupled to the control terminal of an AC contactor 340; the first end of the first indicator assembly 111 is coupled to the third end of the first switch assembly 110, and the second end of the first indicator assembly 111 is coupled to the AC power source, and is used to provide an indicator signal, the indicator signal indicating that the second end and the third end of the first switch assembly 110 are connected.

[0041] Understandably, the signal from the controller 330 can drive the relay via the transistor and then drive the AC contactor 340 to control the AC power supply of the multi-axis servo driver 320, and use the LED therein to indicate whether the AC contactor 340 is closed.

[0042] In another embodiment, combining the above solutions, such as Figure 4 As shown, Figure 4 This is a schematic diagram of the structure of the second embodiment of the power supply control unit provided in this application; the first switching assembly 110 can be used in combination with multiple switching components, such as... Figure 4 As shown, the power supply control unit 11 includes: a first resistor R1, a second resistor R2, a first transistor Q1, a first diode D1, a relay K1, a third resistor R3, a second diode D2, a third diode D3, a first light-emitting diode G1, a fourth diode D4, a fifth diode D5, a fourth resistor R4, and a first capacitor C1.

[0043] Specifically, in one embodiment, the first switching component 110 includes: a first resistor R1, a second resistor R2, a first transistor Q1, a first diode D1, and a relay K1. In another embodiment, the first indicating component 111 includes: a third resistor R3, a second diode D2, a third diode D3, a first light-emitting diode G1, a fourth diode D4, a fifth diode D5, a fourth resistor R4, and a first capacitor C1.

[0044] The corresponding specific structures and their connection relationships are as follows: Figure 4As shown, the first terminal of the first resistor R1 is coupled to the controller 330; the first terminal of the second resistor R2 is coupled to the second terminal of the first resistor R1; the control terminal (base) of the first transistor Q1 is coupled to the second terminal of the first resistor R1, and the first terminal (collector) of the first transistor Q1 is coupled to the first voltage source; the cathode (negative terminal) of the first diode D1 is coupled to the second terminal (emitter) of the first transistor Q1, and the anode (positive terminal) of the first diode D1 is grounded; the first terminal of the relay K1 is coupled to the second terminal of the first transistor Q1, the second terminal of the relay K1 is grounded, and the third terminal of the relay K1 is coupled to the AC power supply; the first terminal of the third resistor R3 is coupled to the fourth terminal of the relay K1; the anode of the second diode D2 is coupled to the third resistor R3. The second terminal of diode 3; the cathode of the third diode D3 is coupled to the cathode of the second diode D2; the anode of the first LED G1 is coupled to the cathode of the third diode D3; the anode of the fourth diode D4 is coupled to the cathode of the first LED G1, and the cathode of the fourth diode D4 is coupled to the anode of the third diode D3; the anode of the fifth diode D5 is coupled to the cathode of the first LED G1, and the cathode of the fifth diode D5 is coupled to the anode of the second diode D2; the first terminal of the fourth resistor R4 is coupled to the anode of the third diode D3, and the second terminal of the fourth resistor R4 is coupled to the AC power supply; the first terminal of the first capacitor C1 is coupled to the first terminal of the fourth resistor R4, and the second terminal of the first capacitor C1 is coupled to the second terminal of the fourth resistor R4; wherein, as Figure 4 As shown, AC contactor 340 is coupled via CONTANT1+, CONTANT1-, CONTANT2+, and CONTANT2- ports, and controller 330 is coupled via Enable_Power_Relay port. It will be understood that in one embodiment, the first voltage source involved refers to a 5V voltage source, and the second voltage source refers to a 24V voltage source.

[0045] For contact feedback unit 12:

[0046] See Figure 5 As shown, Figure 5 This is a schematic diagram of the structure of the first embodiment of the contact feedback unit provided in this application; wherein, the contact feedback unit 12 includes: a first isolation component 120, a second isolation component 121 and a logic component 122; wherein, the first end of the first isolation component 120 is coupled to an AC contactor 340; the first end of the second isolation component 121 is coupled to an AC contactor 340; the first input end of the logic component 122 is coupled to the second end of the first isolation component 120, the second input end of the logic component 122 is coupled to the second end of the second isolation component 121, and the output end of the logic component 122 is coupled to a controller 330 for outputting a status signal.

[0047] In another embodiment, combining the above solutions, such as Figure 6 As shown, Figure 6This is a schematic diagram of the structure of the second embodiment of the contact feedback unit provided in this application; wherein, in this embodiment, the first isolation component 120 includes: a first rectifier diode Z1, a fifth resistor R5, a sixth resistor R6, a second capacitor C2, a first optocoupler OP1, and a seventh resistor R7; specifically, the first end of the first rectifier diode Z1 is coupled to the first contact, and the second end of the first rectifier diode Z1 is grounded; the first end of the fifth resistor R5 is coupled to the first end of the first rectifier diode Z1; the first end of the sixth resistor R6 is coupled to the second end of the fifth resistor R5, and the second end of the sixth resistor R6 is grounded; the first end of the second capacitor C2 is coupled to the second end of the fifth resistor R5, and the second end of the second capacitor C2 is grounded; the first end (anode) of the first optocoupler OP1 is coupled to the first end of the second capacitor C2, the second end (cathode) of the optocoupler is coupled to the second end of the second capacitor C2, and the third end (emitter) of the optocoupler is grounded; the first end of the seventh resistor R7 is coupled to the first voltage source, and the second end of the seventh resistor R7 is coupled to the fourth end (collector) of the optocoupler.

[0048] The second isolation component 121 includes: a second rectifier diode Z2, an eighth resistor R8, a ninth resistor R9, a third capacitor C3, a second optocoupler OP2, and a tenth resistor R10; specifically, the first terminal of the second rectifier diode Z2 is coupled to a second voltage source, and the second terminal of the second rectifier diode Z2 is grounded; the first terminal of the eighth resistor R8 is coupled to the first terminal of the second rectifier diode Z2; the first terminal of the ninth resistor R9 is coupled to the second terminal of the eighth resistor R8, and the second terminal of the ninth resistor R9 is grounded; the first terminal of the third capacitor C3 is coupled to the first terminal of the ninth resistor R9, and the second terminal of the third capacitor C3 is grounded; the first terminal (anode) of the second optocoupler OP2 is coupled to the first terminal of the third capacitor C3, the second terminal (cathode) of the second optocoupler OP2 is coupled to the second terminal of the third capacitor C3, and the third terminal (emitter) of the second optocoupler OP2 is grounded; the first terminal of the tenth resistor R10 is coupled to a first voltage source, and the second terminal of the tenth resistor R10 is coupled to the fourth terminal (collector) of the second optocoupler OP2.

[0049] The logic component 122 includes: a NOR element U1, a second light-emitting diode G2, and an eleventh resistor R11; specifically, the first terminal of the NOR element U1 is coupled to the fourth terminal of the first optocoupler OP1, the second terminal of the NOR element U1 is coupled to the fourth terminal of the second optocoupler OP2, the third output terminal of the NOR element U1 is grounded, the fourth terminal of the NOR element U1 is coupled to the controller 330, and the fifth terminal of the NOR element U1 is coupled to the first voltage source; the cathode of the second light-emitting diode G2 is grounded; the first terminal of the eleventh resistor R11 is coupled to the fourth terminal of the NOR element U1, and the second terminal of the eleventh resistor R11 is coupled to the anode of the second light-emitting diode G2.

[0050] The second contact is coupled to the second voltage source, the first end of the third capacitor C3 is coupled to the third contact, and the second end of the third capacitor C3 is coupled to the fourth contact. When the first contact and the second contact are connected and the third contact and the fourth contact are disconnected, the NOR element U1 outputs a high level and feeds back to the controller 330 that the relay K1 in the power supply control unit 11 is closed.

[0051] Understandably, in the above embodiment, the contact feedback unit 12 is mainly composed of two optocouplers and NOR gates. Only when the normally open contact of the contactor is closed and the normally closed contact is open, both optocouplers output a low level, and the NOR gate outputs a high level, thus closing the main contact of the feedback contactor. The controller 330 sends a contactor controller 330 signal, which is used by the bridging circuit 100 to complete the actual control of the contactor and obtain the actual on / off state of the contactor. If the preceding and following logics are inconsistent, a feedback alarm is triggered to monitor abnormalities; otherwise, it indicates that the system power supply monitoring is normal. For example, Figure 6 As shown, NO1+ and NO2- are normally open contacts, while NC1+, NC2+, NC1-, and NC2- are normally closed contacts. The controller 330 is coupled via the Status_Power_Relay port.

[0052] Furthermore, while some multi-axis drives provide an STO interface, allowing the controller 330 to send control signals to the drive and achieve safe torque shutdown of the robotic arm, this requires an external power supply. Due to the lack of signal and power isolation, the controller 330 and the drive share a common ground. Strong electromagnetic interference generated when the drive sends PWM signals to the motor can potentially affect the normal operation of the controller 330, impacting the overall safety and reliability of the system. STO (Safe Torque Off) is a mechanism to prevent accidental restart of the drive (such as a motor). It safely clears the drive's output, preventing accidental motor start-up and ensuring operator safety. Therefore, this application addresses the above problems by incorporating a safety module 20, as detailed below:

[0053] In one embodiment, such as Figure 7 As shown, Figure 7 This is a schematic diagram of the structure of an embodiment of the safety module provided in this application; wherein, the safety module 20 includes: a torque shutdown control unit 21 and a torque shutdown feedback unit 22; specifically, the first end of the torque shutdown control unit 21 is coupled to the controller 330, and the second end of the torque shutdown control unit 21 is coupled to the torque shutdown module 310; the first end of the torque shutdown feedback unit 22 is coupled to the controller 330, and the second end of the torque shutdown feedback unit 22 is coupled to the torque shutdown module 310.

[0054] In one embodiment, such as Figure 8As shown, Figure 8 This is a schematic diagram of the structure of the first embodiment of the torque shutdown control unit provided in this application; the torque shutdown control unit 21 includes: a third isolation component 210 and a second switch component 211; the first end of the third isolation component 210 is coupled to the controller 330; the first end of the second switch component 211 is coupled to the second end of the third isolation component 210, and the second end of the second switch component 211 is coupled to the torque shutdown module 310.

[0055] In one specific embodiment, such as Figure 9 As shown, Figure 9 This is a schematic diagram of the structure of the second embodiment of the torque shutdown control unit provided in this application; wherein the torque shutdown control unit 21 includes: a twelfth resistor R12, a fourth capacitor C4, a third optocoupler OP3, a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a sixth diode D6, and a second transistor Q2.

[0056] The third isolation component 210 includes: a twelfth resistor R12, a fourth capacitor C4, and a third optocoupler OP3. The second switching component 211 includes: a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a sixth diode D6, and a second transistor Q2.

[0057] Among them, the first terminal of the twelfth resistor R12 is coupled to the first voltage source; the first terminal of the fourth capacitor C4 is coupled to the controller 330, and the second terminal of the fourth capacitor C4 is coupled to the second terminal of the twelfth resistor R12; the first terminal (anode) of the third optocoupler OP3 is coupled to the second terminal of the twelfth resistor R12, the second terminal (cathode) of the third optocoupler OP3 is coupled to the second terminal of the fourth capacitor C4, and the third terminal (emitter) of the third optocoupler OP3 is grounded; the first terminal of the thirteenth resistor R13 is coupled to the fourth terminal (collector) of the third optocoupler OP3; the first terminal of the fourteenth resistor R14 is coupled to the fourth terminal (collector) of the thirteenth resistor R13. At one end, the second end of the fourteenth resistor R14 is coupled to the second voltage source; the first end of the fifteenth resistor R15 is coupled to the second end of the fourteenth resistor R14, and the second end of the fifteenth resistor R15 is coupled to the torque shutdown module 310; the anode of the sixth diode D6 is coupled to the third end of the optocoupler, and the cathode of the sixth diode D6 is coupled to the first end of the thirteenth resistor R13; the control terminal (base) of the second transistor Q2 is coupled to the second end of the thirteenth resistor R13, the first end (emitter) of the second transistor Q2 is grounded, and the second end (collector) of the second transistor Q2 is coupled to the torque shutdown module 310. The torque shutdown module 310 is coupled through the STO1+ and STO1- ports (leads out from resistor R15), the STO2+ and STO2- ports (leads out from the second end of the second transistor Q2), and the controller 330 is coupled through the Stop0_indic port.

[0058] In one embodiment, such as Figure 10As shown, Figure 10 This is a schematic diagram of the structure of the first embodiment of the torque shutdown feedback unit provided in this application; the torque shutdown feedback unit 22 includes: a fourth isolation component 220 and a second indicator component 221; the first end of the fourth isolation component 220 is coupled to the torque shutdown module 310, and the second end of the fourth isolation component 220 is coupled to the controller 330; the second indicator component 221 is coupled to the second end of the fourth isolation component 220.

[0059] In one specific embodiment, such as Figure 11 As shown, Figure 11 This is a schematic diagram of the structure of the second embodiment of the torque shutdown feedback unit provided in this application; wherein the torque shutdown feedback unit 22 includes: a third rectifier diode Z3, a sixteenth resistor R16, a seventeenth resistor R17, a fifth capacitor C5, a fourth optocoupler OP4, an eighteenth resistor R18, a nineteenth resistor R19, a third light-emitting diode G3, and a seventh diode D7.

[0060] Among them, the first terminal of the third rectifier diode Z3 is coupled to the second voltage source, and the second terminal of the third rectifier diode Z3 is grounded; the first terminal of the sixteenth resistor R16 is coupled to the second voltage source; the first terminal of the seventeenth resistor R17 is coupled to the second terminal of the sixteenth resistor R16, and the second terminal of the seventeenth resistor R17 is coupled to the torque shutdown module 310; the first terminal of the fifth capacitor C5 is coupled to the first terminal of the seventeenth resistor R17, and the second terminal of the fifth capacitor C5 is coupled to the torque shutdown module 310; the first terminal (anode) of the fourth optocoupler OP4 is coupled to the first terminal of the fifth capacitor C5, and the second terminal (cathode) of the fourth optocoupler OP4 is coupled to the fifth capacitor C5. The second terminal of 5, the third terminal (emitter) of the fourth optocoupler OP4 is grounded, and the fourth terminal (collector) of the fourth optocoupler OP4 is coupled to controller 330; the first terminal of the eighteenth resistor R18 is coupled to the fourth terminal of the fourth optocoupler OP4, and the second terminal of the eighteenth resistor R18 is coupled to the first voltage source; the first terminal of the nineteenth resistor R19 is coupled to the second terminal of the eighteenth resistor R18; the anode of the third light-emitting diode G3 is coupled to the second terminal of the nineteenth resistor R19, and the cathode of the third light-emitting diode G3 is coupled to controller 330; the anode of the seventh diode D7 is grounded, and the cathode of the seventh diode D7 is coupled to the second terminal of the seventeenth resistor R17. Wherein, as... Figure 11 As shown, the torque shutdown module 310 is coupled through the STOM+ and STOM- ports, and the controller 330 is connected through the DCBS_BRAKE_CTL_FB# port.

[0061] In the above embodiments, the safety module 20 mainly consists of an optocoupler and a transistor, and provides an isolated power supply to complete the opto-isolation and level conversion of the STO control signal issued by the controller 330 and the STO feedback signal issued by the driver.

[0062] In one embodiment, the bridging circuit 100 further includes a power failure detection module 40, such as... Figure 12 As shown, Figure 12 This is a schematic diagram of the structure of the first embodiment of the power failure detection module provided in this application; the first end of the power failure detection module 40 is coupled to the drive power supply of the multi-axis servo driver 320, and the second end of the power failure detection module 40 is coupled to the controller 330; wherein, when the power failure detection module 40 detects that the drive power supply voltage is lower than a set threshold, it sends a first alarm signal to the controller 330.

[0063] In one embodiment, such as Figure 12 As shown, the power failure detection module 40 includes: a sixth isolation component 41 and a third switch component 42; the first and second ends of the sixth isolation component 41 are coupled to the drive power supply of the multi-axis servo driver 320; the first end of the third switch component 42 is coupled to the second end of the sixth isolation component 41, and the second end of the third switch component 42 is coupled to the controller 330.

[0064] In one embodiment, such as Figure 13 As shown, Figure 13 This is a schematic diagram of the structure of the second embodiment of the power-down detection module provided in this application; specifically, the power-down detection module 40 includes: a fourth rectifier diode Z4, a twentieth resistor R20, a twenty-first resistor R21, a sixth capacitor C6, a fifth optocoupler OP5, a twenty-second resistor R22, a twenty-third resistor R23, a twenty-fourth resistor R24, a seventh capacitor C7, an eighth diode D8, a third transistor Q3, and a ninth diode D9.

[0065] Among them, the first terminal of the fourth rectifier diode Z4 is coupled to the second voltage source, and the second terminal of the fourth rectifier diode Z4 is grounded; the first terminal of the twentieth resistor R20 is coupled to the second voltage source; the first terminal of the twenty-first resistor R21 is coupled to the second terminal of the twentieth resistor R20, and the second terminal of the twenty-first resistor R21 is grounded; the first terminal of the sixth capacitor C6 is coupled to the first terminal of the twenty-first resistor R21, and the second terminal of the sixth capacitor C6 is grounded; the first terminal (anode) of the fifth optocoupler OP5 is coupled to the first terminal of the sixth capacitor C6, the second terminal (cathode) of the fifth optocoupler OP5 is coupled to the second terminal of the sixth capacitor C6, and the third terminal (emitter) of the fifth optocoupler OP5 is grounded; the first terminal of the twenty-second resistor R22 is coupled to the fourth terminal (collector) of the fifth optocoupler OP5; the first terminal of the twenty-third resistor R23 is coupled to the twentieth resistor R20. The first terminal of resistor R22 and the second terminal of resistor R23 are coupled to the second voltage source; the first terminal of resistor R24 ​​is coupled to the second terminal of resistor R23, and the second terminal of resistor R24 ​​is coupled to controller 330; the first terminal of capacitor C7 is coupled to the second voltage source, and the second terminal of capacitor C7 is grounded; the anode of diode D8 is coupled to the third terminal of optocoupler OP5, and the cathode of diode D8 is coupled to the fourth terminal of optocoupler OP5; the control terminal (base) of transistor Q3 is coupled to the second terminal of resistor R20, the first terminal (collector) of transistor Q3 is coupled to controller 330, and the second terminal (emitter) of transistor Q3 is grounded; the anode of diode D9 is grounded, and the cathode of diode D9 is coupled to controller 330. Controller 330 is coupled through the DC_24V_MAD_FB port.

[0066] The power failure detection module 40 mainly consists of a resistor voltage divider sampling circuit, an optocoupler, and a transistor. The power failure monitoring threshold can be achieved by adjusting the resistor voltage divider sampling circuit. For example, when the power supply voltage of the multi-axis servo driver 320 is lower than 8V, a power failure monitoring alarm is triggered. After opto-isolation and level conversion, the isolated alarm signal is sent to the controller 330.

[0067] In one embodiment, the bridging circuit 100 further includes a heartbeat detection module 50, such as... Figure 14 As shown, Figure 14 This is a schematic diagram of an embodiment of the heartbeat detection module provided in this application; the heartbeat detection module 50 is coupled to the controller 330; wherein, the heartbeat detection module 50 sends a heartbeat signal to the controller 330, and when the controller 330 cannot receive the heartbeat signal, the controller 330 sends a fault alarm.

[0068] In one specific embodiment, such as Figure 14 As shown, the heartbeat detection module 50 includes: a square wave generator, an eighth capacitor C8, a ninth capacitor C9, a twenty-fifth resistor R25, and a twenty-sixth resistor R26.

[0069] Specifically, the first terminal of the square wave generator is coupled to the controller 330, and the second terminal of the square wave generator is grounded; the first terminal of the eighth capacitor C8 is coupled to the third terminal of the square wave generator and the first voltage source, and the second terminal of the eighth capacitor C8 is grounded; the first terminal of the ninth capacitor C9 is coupled to the square wave generator, and the second terminal of the ninth capacitor C9 is grounded; the first terminal of the twenty-fifth capacitor is coupled to the first terminal of the ninth capacitor C9; the first terminal of the twenty-sixth resistor R26 is coupled to the second terminal of the twenty-fifth resistor R25, and the second terminal of the twenty-sixth resistor R26 is coupled to the controller 330. The controller 330 is coupled through the DCB_HB port.

[0070] like Figure 14 As shown, in the above scheme, for example, a 2kHz square wave signal generator is used, and a Schmitt trigger is mainly used to build a multivibrator. When the power supply is normal and the connection between the controller 330 and the bridge circuit 100 is normal, the controller 330 will continuously receive the heartbeat signal from the bridge circuit 100. When the bridge circuit 100 loses power, fails, or has an abnormal connection, the controller 330 will issue a fault alarm because it cannot receive the heartbeat signal.

[0071] In one embodiment, the bridging circuit 100 further includes an alarm feedback module 30, such as... Figure 15 As shown, Figure 15 This is a schematic diagram of the structure of the first embodiment of the alarm feedback module provided in this application; wherein, the first end of the alarm feedback module 30 is coupled to the controller 330, and the second end of the alarm feedback module 30 is coupled to the multi-axis servo driver 320.

[0072] In one embodiment, such as Figure 15 As shown, the alarm feedback module 30 specifically includes: a fifth isolation component 31 and a third indicator component 32; the first end of the fifth isolation component 31 is coupled to the multi-axis servo driver 320, and the second end of the fifth isolation component 31 is coupled to the controller 330; the third indicator component 32 is coupled to the second end of the fifth isolation component 31.

[0073] In one specific embodiment, such as Figure 16 As shown, Figure 16 This is a schematic diagram of the structure of the second embodiment of the alarm feedback module provided in this application; the alarm feedback module 30 specifically includes: the fifth rectifier diode Z5, the twenty-seventh resistor R27, the twenty-eighth resistor R28, the tenth capacitor C10, the sixth optocoupler OP6, the twenty-ninth resistor R29, the thirtieth resistor R30, the fourth light-emitting diode G4, and the tenth diode D10.

[0074] Specifically, the fifth isolation component 31 includes: the fifth rectifier diode Z5, the twenty-seventh resistor R27, the twenty-eighth resistor R28, the tenth capacitor C10, the sixth optocoupler OP6, and the tenth diode D10; the third indicator component 32 includes: the twenty-ninth resistor R29, the thirtieth resistor R30, and the fourth light-emitting diode G4.

[0075] Specifically, the first terminal of the fifth rectifier diode Z5 is coupled to the second voltage source, and the second terminal of the fifth rectifier diode Z5 is grounded; the first terminal of the twenty-seventh resistor R27 is coupled to the first terminal of the fifth rectifier diode Z5; the first terminal of the twenty-eighth resistor R28 is coupled to the second terminal of the twenty-seventh resistor R27, and the second terminal of the twenty-eighth resistor R28 is coupled to the multi-axis servo driver 320; the first terminal of the tenth capacitor C10 is coupled to the first terminal of the twenty-eighth resistor R28, and the second terminal of the tenth capacitor C10 is coupled to the multi-axis servo driver 320; the first terminal (anode) of the sixth optocoupler OP6 is coupled to the first terminal of the tenth capacitor C10, and the second terminal (cathode) of the sixth optocoupler OP6 is coupled to the first terminal of the tenth capacitor C10. Two terminals are connected: the third terminal (emitter) of the sixth optocoupler OP6 is grounded, and the fourth terminal (collector) of the sixth optocoupler OP6 is coupled to the controller 330; the anode of the tenth diode D10 is coupled to the multi-axis servo driver 320 and grounded, and the cathode of the tenth diode D10 is coupled to the second terminal of the sixth optocoupler OP6; the first terminal of the twenty-ninth resistor R29 is coupled to the fourth terminal of the sixth optocoupler OP6, and the second terminal of the twenty-ninth resistor R29 is coupled to the first voltage source; the first terminal of the thirtieth resistor R30 is coupled to the second terminal of the twenty-ninth resistor R29; the anode of the fourth light-emitting diode G4 is coupled to the second terminal of the thirtieth resistor R30, and the second terminal of the fourth light-emitting diode G4 is coupled to the first terminal of the twenty-ninth resistor R29. The multi-axis servo driver 320 is coupled through the ALM+ and ALM- ports, and the controller 330 is coupled through the DCB_Alert port.

[0076] In one embodiment, the bridging circuit 100 further includes a manual brake release unit 60, such as... Figure 17 As shown, Figure 17 This is a schematic diagram of an embodiment of the manual brake release unit provided in this application; the manual brake release unit 60 is coupled to the motor brake of the robot 300; wherein, the manual brake release unit 60 controls the opening or closing of the motor brake of the robot 300. A switch is coupled through the BUTTON+ and BUTTON- ports, and the motor brake is coupled through the BK+ and BK- ports.

[0077] In one embodiment, the manual brake release unit 60 consists of an interface with a 24V isolated power output. When needed, an external push-button switch can be connected, simultaneously disconnecting the motor brake control link from the driver brake output interface and switching to the manual brake release output interface. The button controls the on / off of the brake power supply, thereby manually opening or closing the brake. Under normal circumstances, the motor brake is automatically controlled by the multi-axis servo driver 320. This manual brake release function provides convenience for emergency manual release of the brake and movement of the robotic arm in specific application scenarios.

[0078] In conjunction with the above embodiments, regarding the configuration of each module and component, the bridging circuit is equipped with corresponding device interfaces for connection, such as MCBS-DPBS IO, AC220V interface, fan interface, AC contactor interface, motor drive STO interface, 24V power supply interface, manual brake release interface, etc.

[0079] Understandably, in the above embodiment, since the bridging circuit 100 needs to be connected to both the 24V power supply of the controller 330 and the 24V power supply of the driver, electrical isolation is performed. The monitoring signal between the controller 330 and the multi-axis servo driver 320 is also opto-isolated and level-logic converted by the optocoupler on the bridging circuit 100, ensuring that while monitoring the multi-axis servo driver 320 is achieved, the strong electromagnetic interference of the multi-axis servo driver 320 to the controller 330 is effectively suppressed.

[0080] By employing the above methods, effective monitoring of the AC power supply to the multi-axis servo drive 320 is achieved, and sufficient isolation of signals and power between the controller 330 and the multi-axis servo drive 320 is completed. This ensures that even if the ETHERCAT main communication link malfunctions, the bridging circuit 100 can still enable the controller 330 to monitor the multi-axis servo drive 320. If necessary, the AC power supply to the multi-axis servo drive 320 can be reliably cut off, preventing the controller 330 from being subjected to strong electromagnetic interference from the multi-axis servo drive 320. These improvements will significantly enhance the reliability and safety of the entire control system.

[0081] This application also provides a robot 300, such as Figure 18 As shown, Figure 18This is a schematic diagram of a robot embodiment provided in this application; the robot 300 includes: a multi-axis servo driver 320, an AC contactor 340, a torque shut-off module 310, a controller 330, and a bridge circuit 100; the input terminal of the AC contactor 340 is connected to an AC power supply, and the output terminal of the AC contactor 340 is coupled to the multi-axis servo driver 320 and the bridge circuit 100; the torque shut-off module 310 is coupled to the multi-axis servo driver 320 and the bridge circuit 100; the controller 330 is coupled to the bridge circuit 100; the bridge circuit 100 is coupled to the multi-axis servo driver 320, the torque shut-off module 310, the AC contactor 340, and the controller 330, and the bridge circuit 100 is the bridge circuit 100 described in any of the above embodiments.

[0082] The bridging circuit 100 provided in this application includes a drive power supply control module 10 and a safety module 20. Specifically, the first end of the drive power supply control module 10 is used to couple to the multi-axis servo driver 320 of the robot 300, and the second end of the drive power supply control module 10 is used to couple to the controller 330 of the robot 300. The drive power supply control module 10 is configured to receive a first control signal sent by the controller 330 and supply power to the multi-axis servo driver 320. The first end of the safety module 20 is used to couple to the torque shutdown module 310 of the robot 300. The torque shutdown module 310 is coupled to the multi-axis servo driver 320, and the second end of the safety module 20 is used to couple to the controller 330. The safety module 20 is configured to receive a second control signal sent by the controller 330 and control the multi-axis servo driver 320 to stop working through the torque shutdown module 310. In the above manner, the drive power supply control module 10 is used to monitor and control the AC power supply of the multi-axis servo drive 320. When a fault is detected in the robot 300 system, the AC power supply can be cut off in time to ensure safe use. Combined with the safety module 20, the torque shutdown module 310 is controlled and feedback is provided to avoid the safety risks caused by the loss of control of the drive or robotic arm in the robot 300 system, thereby improving the reliability and safety of the robot 300 system.

[0083] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A bridging circuit, characterized by The bridging circuit includes: A drive power supply control module, wherein a first end of the drive power supply control module is used to couple to a multi-axis servo drive of a robot, and a second end of the drive power supply control module is used to couple to a controller of a robot, and the drive power supply control module is configured to receive a first control signal sent by the controller and supply power to the multi-axis servo drive; A safety module, wherein a first end of the safety module is used to couple to the robot's torque shutdown module, the torque shutdown module is coupled to the multi-axis servo drive, and a second end of the safety module is used to couple to the controller. The safety module is configured to receive a second control signal sent by the controller and control the multi-axis servo drive to stop working through the torque shutdown module.

2. The bridge circuit of claim 1, wherein, The drive power supply control module includes: A power supply control unit, wherein a first terminal of the power supply control unit is coupled to the controller, and a second terminal of the power supply control unit is coupled to the control terminal of an AC contactor; wherein the input terminal of the AC contactor is used to connect to an AC power source, and the output terminal of the AC contactor is coupled to the multi-axis servo driver; A contact feedback unit, wherein a first end of the contact feedback unit is coupled to the output end of the AC contactor, and a second end of the contact feedback unit is coupled to the controller, for sending a status signal to the controller, the status signal being used to characterize the on / off state of the AC contactor.

3. The bridge circuit of claim 2, wherein, The power supply control unit includes: A first switching assembly, wherein a first end of the first switching assembly is coupled to the controller, a second end of the first switching assembly is used to connect to an AC power source, and a third end of the first switching assembly is coupled to the control terminal of the AC contactor. A first indicating component, wherein a first end of the first indicating component is coupled to a third end of the first switching component, and a second end of the first indicating component is coupled to the AC power supply, for providing an indicating signal indicating that there is conduction between the second and third ends of the first switching component.

4. The bridge circuit according to claim 2 or 3, characterized in that The contact feedback unit includes: A first isolation component, wherein a first end of the first isolation component is coupled to the AC contactor; A second isolation component, the first end of which is coupled to the AC contactor; A logic component, wherein a first input terminal of the logic component is coupled to a second terminal of the first isolation component, a second input terminal of the logic component is coupled to a second terminal of the second isolation component, and an output terminal of the logic component is coupled to the controller for outputting the status signal.

5. The bridge circuit of claim 1, wherein, The security module includes: A torque shutdown control unit, wherein a first terminal of the torque shutdown control unit is coupled to the controller, and a second terminal of the torque shutdown control unit is coupled to the torque shutdown module; A torque shutdown feedback unit, wherein a first end of the torque shutdown feedback unit is coupled to the controller, and a second end of the torque shutdown feedback unit is coupled to the torque shutdown module.

6. The bridge circuit of claim 5, wherein, The torque shutdown control unit includes: A third isolation component, the first end of which is coupled to the controller; The second switching assembly has a first end coupled to the second end of the third isolation assembly, and the second end of the second switching assembly is coupled to the torque shutdown module.

7. The bridge circuit of claim 5, wherein, The torque shut-off feedback unit includes: A fourth isolation component, wherein a first end of the fourth isolation component is coupled to the torque shutdown module, and a second end of the fourth isolation component is coupled to the controller; The second indicator component is coupled to the second end of the fourth isolation component.

8. The bridge circuit of claim 1, wherein, The bridging circuit also includes: An alarm feedback module is provided, wherein a first end of the alarm feedback module is coupled to the controller, and a second end of the alarm feedback module is coupled to the multi-axis servo driver.

9. The bridge circuit of claim 8, wherein, The alarm feedback module includes: A fifth isolation component, wherein a first end of the fifth isolation component is coupled to the multi-axis servo driver, and a second end of the fifth isolation component is coupled to the controller; A third indicator component is coupled to the second end of the fifth isolation component.

10. The bridge circuit of claim 1, wherein, The bridging circuit also includes: A power failure detection module, wherein the first end of the power failure detection module is coupled to the drive power supply of the multi-axis servo driver, and the second end of the power failure detection module is coupled to the controller; Specifically, when the power failure detection module detects that the driving power supply voltage is lower than a set threshold, it sends a first alarm signal to the controller.

11. The bridge circuit of claim 10, wherein, The power failure detection module includes: A sixth isolation component, wherein the first and second ends of the sixth isolation component are coupled to the drive power supply of the multi-axis servo driver; A third switching assembly, the first end of which is coupled to the second end of the sixth isolation assembly, and the second end of which is coupled to the controller.

12. The bridge circuit of claim 1, wherein, The bridging circuit also includes: A heartbeat detection module, which is coupled to the controller; The heartbeat detection module sends a heartbeat signal to the controller. When the controller cannot receive the heartbeat signal, it sends a fault alarm.

13. The bridge circuit of claim 1, wherein, The bridging circuit also includes: A manual brake release unit, which is coupled to the robot's motor brake; The manual brake release unit controls the opening and closing of the robot's motor brake.

14. A robot, characterized in that The robot includes: Multi-axis servo drive; An AC contactor, wherein the input terminal of the AC contactor is connected to an AC power supply, and the output terminal of the AC contactor is coupled to the multi-axis servo driver; A torque shutdown module, which is coupled to the multi-axis servo driver; A bridging circuit, wherein the bridging circuit is coupled to the multi-axis servo driver, the torque shutdown module and the AC contactor, and the bridging circuit is the bridging circuit as described in any one of claims 1-13; A controller, which is coupled to the bridge circuit.

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