CN107621799A - Articulated robot Special safety signal control circuit based on transistor - Google Patents
Articulated robot Special safety signal control circuit based on transistor Download PDFInfo
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- CN107621799A CN107621799A CN201711015440.4A CN201711015440A CN107621799A CN 107621799 A CN107621799 A CN 107621799A CN 201711015440 A CN201711015440 A CN 201711015440A CN 107621799 A CN107621799 A CN 107621799A
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Abstract
The present invention discloses a kind of articulated robot Special safety signal control circuit based on transistor；The technical problem of solution：The shortcomings that being existed for " start alarm band-type brake " of existing multi-axis robot using all relay control program technical problem.The technical scheme of use：A kind of articulated robot Special safety signal control circuit based on transistor, including multipath servo alarm Acquisition Circuit, the servo alarm computing circuit that output with multipath servo alarm Acquisition Circuit is connected, the servo alarm drive circuit that output with servo alarm computing circuit is connected, the alarm being connected with the output of servo alarm drive circuit and startup/stop signal computing circuit, with the warning output being connected with startup/stop signal computing circuit output of alarming with starting latching circuit.Advantage, this circuit, the collection and processing of the safety signals such as the servo alarm signal of multi-axis robot, urgent-stop alarm signal, robot startup/stop signal are realized by transistor.
Description
Technical field
The present invention relates to a kind of articulated robot Special safety signal control circuit based on transistor.
Background technology
It is more multiaxis control now for robot based on the miniaturization of present robot control cabinet, integrated trend
Scheme processed, instead of original single-axis servo scheme.The advantage of multiaxis scheme is exactly that integrated level height, small volume, performance are watched compared with single shaft
Take scheme free of losses.One is just needed to be uniformly coordinated all servo alarms, motor alarm, robot for the control program of multiaxis
The circuit of robot security's signal such as control information.
Present existing " startup-alarm-band-type brake " control program for multi-axis robot is by all relay mode
Realize, illustrated with general six-joint robot servo alarm, band-type brake, the jerk report of robot of six motors on six tunnels be present
Alert, robot start and stop function, above-mentioned function is completed by each relay.
The shortcomings that all relay mode is：1st, relay used is excessive, then needs more than ten relays for above-mentioned function,
Cause circuit volume excessive, influence switch board size；2nd, the response speed of relay is slow, needs the time of Millisecond；3rd, relay
The price of device is higher than transistor；4th, the service life of relay and on-off times have direct correlation, and service life falls short of；5th, after
The work of electrical equipment, which can occur together, projects stronger electromagnetic interference.
The content of the invention
The technical problems to be solved by the invention are：For being referred in background technology for existing multi-axis robot
The shortcomings that " startup-alarm-band-type brake " is existed using all relay control program technical problem.
The design philosophy of the present invention is, for the disadvantages mentioned above of relay scheme, this patent devises one kind and is based on crystal
Pipe and the multi-axis robot Special safety signal control circuit of logic chip, safety signal include robot start and stop, all kinds of alarms,
Band-type brake etc..
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of articulated robot Special safety signal control circuit based on transistor, including for gathering multi-joint machine
The multipath servo alarm Acquisition Circuit of the multipath servo alarm signal of device people, the output with multipath servo alarm Acquisition Circuit are connected
Alarm the multipath servo Acquisition Circuit output signal of being used for carry out the servo of NOR-operation and alarm computing circuit, alarmed with servo
The servo alarm drive circuit for being used to provide warning drive signal that the output of computing circuit is connected, with servo alarm drive circuit
The connected alarm of output and startup/stop signal computing circuit, export and be connected with startup/stop signal computing circuit with alarm
Warning output with start latching circuit, warning output with start latching circuit output alarm signal；
Articulated robot Special safety signal control circuit based on transistor, in addition to powered by 24V power supplys
Two outside scram button SE1, two outside scram button SE1 signal S5 and S6 are respectively connected to two and are used to gather outside suddenly
Stop button SE1 two-way urgent-stop alarm Acquisition Circuit, the output of two-way urgent-stop alarm Acquisition Circuit accesses alarm with starting/stopping
Stop signal computing circuit；
The normally opened start button SB1 and normally closed stop button SB2 for powering and connecting by 24V power supplys, pressed in normally opened startup
Access warning output in parallel is pressed with starting the normally opened of relay K1 in latching circuit between button SB1 and normally closed stop button SB2
Button K1A, normally opened button K1A output signal S9；Normally opened start button SB1 and normally closed stop button SB2 startup/stop signal
S1 accesses startup/stop signal Acquisition Circuit, and output access alarm and the startup/stopping of startup/stop signal Acquisition Circuit are believed
Number computing circuit.
Further improvement to technical solution of the present invention, the articulated robot Special safety signal control based on transistor
Circuit also includes the multichannel band-type brake circuit for being used to gather the multichannel motor internal contracting brake signal of articulated robot；Multichannel band-type brake circuit bag
Include the one-to-one band-type brake circuit of motor internal contracting brake signal with articulated robot；Multiple band-type brake circuit all sames；If multi-joint
The motor internal contracting brake signal of robot be the band-type brake signal BR1 of motor 1, the band-type brake signal BR2 of motor 2 ... motor N band-type brake signal BRN,
N is the positive integer more than or equal to 1；
Band-type brake circuit includes current-limiting resistance R31, protective resistance R32, electric capacity C9, optocoupler U3, divider resistance R33, partial pressure electricity
Resistance R34 ,+3.9V voltage-stabiliser tubes, anti-interference resistance R35 and N-channel MOS pipe, current-limiting resistance R31 mono- terminate+24V, current-limiting resistance R31
The other end and motor internal contracting brake signal BR1 access optocoupler U3 two inputs simultaneously, in optocoupler U3 input parallel filtering electric capacity
C9 and protective resistance R32 and protective resistance R32 and filter capacitor C9 is arranged in parallel；An output connects in optocoupler U3 two outputs
Direct current+24V voltages are connect, another output concatenation divider resistance R33 one end, divider resistance R33 other ends connection divider resistance R34
One end, the positive pole of+3.9V voltage-stabiliser tubes and anti-interference resistance R35 one end, anti-interference resistance R35 the other end connection N-channel
The grid of metal-oxide-semiconductor；The source grounding of the divider resistance R34 other end, the negative pole of+3.9V voltage-stabiliser tubes and N-channel MOS pipe, N ditches
The band-type brake coil both ends of the motor 1 of the drain electrode connection articulated robot of road metal-oxide-semiconductor.
Further improvement to technical solution of the present invention, multipath servo alarm Acquisition Circuit include and articulated robot
The one-to-one servo alarm Acquisition Circuit of servo alarm signal, multiple servos alarm Acquisition Circuit all sames；If multi-joint machine
The servo alarm signal of device people be the alarm signal of servo 1, the alarm signal of servo 2, the alarm signal of servo 3 ... servo N alarm signals
Number；N is the positive integer more than or equal to 1；
Servo alarm Acquisition Circuit includes thermistor PTC1, current-limiting resistance R1, LED 1, protective resistance
R2, anti-interference capacitor C1 and TVS diode,
Input of the thermistor PTC1 one end as servo alarm Acquisition Circuit, the access input of the alarm signal of servo 1
End, while one end of thermistor PTC1 one end connection TVS diode, the other end ground connection of TVS diode；Thermistor
The conduct simultaneously of one end of PTC1 another termination anti-interference capacitor C1 one end, the negative pole of LED 1 and protective resistance R2
The output end of servo alarm Acquisition Circuit, the output signal AR1 of output servo alarm Acquisition Circuit；The anti-interference capacitor C1 other ends
Sending and receiving optical diode LED1 positive pole and the protective resistance R2 other end, current-limiting resistance R1 is met in the negative pole of LED 1
One end, the external direct current+15V voltages of the current-limiting resistance R1 other ends.
Further improvement to technical solution of the present invention, servo alarm computing circuit include collection electricity of alarming multipath servo
The output signal (AR1~ARN) on road first carries out NOR-operation, then NOR-operation is exported into progress and computing；Concrete operation formula
For：
AR=(~(AR1+AR2)) ＆＆ (~(AR3+AR4)) ＆＆ ......s ＆＆ (~(ARN-1+ARN)) (formula 1)
Wherein, AR represents the total output of multiple-axis servo alarm；AR1, AR2~ARN are servo alarm Acquisition Circuit output signal；
It can be seen from above-mentioned formula, when multipath servo is in normal operating conditions, i.e. AR1~ARN is low level,
Then AR=1；When there is servo alarm, i.e. it is high level that AR1~ARN, which has one or more, then AR=0.
Further improvement to technical solution of the present invention, servo alarm drive circuit include resistance R11, resistance R12, resistance
R13, resistance R14, resistance R15, resistance R25, resistance R26, resistance R27, diode D1, diode D2, NPN type triode Q1,
PNP type triode Q2 ,+5V voltage-stabiliser tubes, LED 5, electric capacity C3 and electric capacity C7,
Resistance R11 one end connection direct current+15V voltages, the resistance R11 other end input as servo alarm drive circuit
Terminate the output signal AR of servo alarm computing circuit, while resistance R11 other end connection diode D1 positive pole, diode
D1 negative pole connection resistance R12 one end, resistance R12 other end connection resistance R13 one end, electric capacity C3 one end and NPN
Type triode Q1 base stage, the emitter stage of the resistance R13 other end, the electric capacity C3 other end and NPN type triode Q1 are grounded,
NPN type triode Q1 colelctor electrode connection resistance R14 one end and resistance R15 one end, resistance R14 other end connection direct current
+ 24V voltages, R15 other end connection PNP type triode Q2 base stage, triode Q2 emitter stage connection direct current+24V voltages,
Triode Q2 colelctor electrode connection diode D2 positive pole, diode D2 negative pole connection electric capacity C7 one end and+5V voltage-stabiliser tubes
Negative pole, positive pole connection resistance R25 one end of+5V voltage-stabiliser tubes and the positive pole of LED 5, LED 5
Negative pole connection resistance R26 one end, the resistance R26 other end is used as servo alarm drive circuit output end, output servo report
The output signal S-AR-24V of alert drive circuit, while resistance R26 other end connection resistance R27 one end, electric capacity C7's is another
The other end of one end, the resistance R25 other end and resistance R27 is grounded.
Further improvement to technical solution of the present invention, the urgent-stop alarm for gathering outside scram button SE1 signal S5 are adopted
Collector includes electric capacity C4 ,+5V voltage-stabiliser tubes, resistance R16, resistance R17, resistance R18 and LED 2 ,+5V voltage-stabiliser tubes
Input of the negative pole as this urgent-stop alarm Acquisition Circuit, simultaneously the negative pole connection electric capacity C4 of+5V voltage-stabiliser tubes one end ,+5V
Positive pole connection resistance R16 one end of voltage-stabiliser tube and the positive pole of LED 2, the negative pole connection of LED 2
Resistance R17 one end, the output end of the resistance R17 other end as this urgent-stop alarm Acquisition Circuit, output signal S-S5, simultaneously
Resistance R17 other end connection resistance R18 one end, the electric capacity C4 other end, the resistance R16 other end and resistance R18 it is another
One end is grounded；
The outside scram button SE1 of collection signal S6 urgent-stop alarm Acquisition Circuit includes electric capacity C5 ,+5V voltage-stabiliser tubes, electricity
R19, resistance R20, resistance R21 and LED 3 are hindered, the negative pole of+5V voltage-stabiliser tubes is as this urgent-stop alarm Acquisition Circuit
One end of input, simultaneously the negative pole connection electric capacity C5 of+5V voltage-stabiliser tubes, the positive pole connection resistance R19 of+5V voltage-stabiliser tubes one end and
The positive pole of LED 3, the negative pole connection resistance R20 of LED 3 one end, the resistance R20 other end are made
For the output end of this urgent-stop alarm Acquisition Circuit, the one of output signal S-S6, while resistance R20 other end connection resistance R21
End, the other end of the electric capacity C5 other end, the resistance R19 other end and resistance R21 are grounded；
Gather normally opened start button SB1 and normally closed stop button SB2 startup/stop signal S1 startup/stop signal
Acquisition Circuit includes electric capacity C6 ,+5V voltage-stabiliser tubes, resistance R22, resistance R23, resistance R24 and LED 4 ,+5V voltage stabilizings
One end of input of the negative pole of pipe as this urgent-stop alarm Acquisition Circuit, simultaneously the negative pole connection electric capacity C6 of+5V voltage-stabiliser tubes ,+
Positive pole connection resistance R22 one end of 5V voltage-stabiliser tubes and the positive pole of LED 4, the negative pole of LED 4 connect
Connecting resistance R23 one end, the output end of the resistance R23 other end as this urgent-stop alarm Acquisition Circuit, output signal S-S1, together
When resistance R23 other end connection resistance R24 one end, the electric capacity C6 other end, the resistance R22 other end and resistance R24
The other end is grounded.
Further improvement to technical solution of the present invention, alarm include anxious to two-way with startup/stop signal computing circuit
Stop output signal S-S5, S-S6 of alarm Acquisition Circuit, the output signal S-S1 and servo of startup/stop signal Acquisition Circuit
The output signal S-AR-24V of alarm drive circuit is carried out and computing；Specifically operational formula is：
SS=(S-S6＆＆S-S5)s ＆＆ (S-S1＆＆S-AR-24V) (formula 2)
Wherein, SS represents alarm and the output of startup/stop signal computing circuit；
It can be seen from formula 2, when alarmed in the absence of servo, urgent-stop alarm, when stop button is not pressed, alarm, open
The output signal SS of dynamic/stop signal computing circuit be high level state, and when exist servo alarm, urgent-stop alarm or stopping by
Button is pressed, then alarm, the output signal SS of startup/stop signal computing circuit are low level state；
It follows that then SS=1 during robot normal operation, robot alarm or SS=0 when stopping.
Further improvement to technical solution of the present invention, warning output include diode D5, two poles with starting latching circuit
Pipe D6, diode D7, diode D8, resistance R29, resistance R30, electric capacity C8, electric capacity C12, NPN type triode Q4 and relay
K1, diode D5 positive pole are alarmed and startup/stop signal computing as this warning output and the input for starting latching circuit
The output signal SS of circuit is accessed by input, diode D5 negative pole connection diode D6 positive pole, diode D6 negative pole
Connect diode D7 positive pole, diode D7 negative pole connection resistance R29 one end, resistance R29 other end connection resistance R30
One end, electric capacity C8 one end and NPN type triode Q4 base stage, the resistance R30 other end, electric capacity the C8 other end and NPN
Type triode Q4 emitter stage is grounded, NPN type triode Q4 colelctor electrode connection electric capacity C12 one end and the one of relay K1
End, electric capacity C12 other end ground connection, relay K1 other end connection direct current+24V voltages are reverse at relay K1 both ends
Parallel diode D8；Relay K1 output all the way is alarm output signal S11.
The operation principle of this control circuit is：
The operation principle of multi-axis robot safety signal control program is control circuit while detects each axle servo alarm signal
Number, urgent-stop alarm signal, startup/stop signal, if servo and the equal alarm free of jerk, when start button (self- recoverage button, often
Open) press after, can be by circuit output run signal, so as to control machine human action, while the self-locking circuit inside circuit board
Can be by line lock in circuit, so as to ensure that circuit board also can normal work after being resetted even if start button.Robot is run
During, it is pressed if there is alarm signal or stop button (self- recoverage button, normally closed), circuit can export alarm signal
Number, robot stopping action, while self-locking circuit disconnects.External motor band-type brake signal is received, controls each motor internal contracting brake.
Compared with prior art, its advantage is the present invention：
1st, the articulated robot Special safety signal control circuit based on transistor of the invention, compared with all relay scheme
Circuit, this circuit volume reduces 1/3.
2nd, the articulated robot Special safety signal control circuit based on transistor of the invention, compared with all relay scheme
Circuit, the response time of this patent circuit is faster.
3rd, the articulated robot Special safety signal control circuit based on transistor of the invention, compared with all relay scheme
Circuit, this patent circuit reduces cost.
4th, the articulated robot Special safety signal control circuit based on transistor of the invention, there is external electromagnetism to do
Disturb small, service life length, the advantages of upper and lower electrical noise is low.
Brief description of the drawings
Fig. 1 is the work block diagram of the articulated robot Special safety signal control circuit based on transistor.
Fig. 2 is the circuit diagram of band-type brake circuit.
Fig. 3 is the circuit diagram of servo alarm Acquisition Circuit.
The circuit diagram of servo alarm computing circuit exemplified by the tunnel servo alarm signals of Tu4Shi six.
Fig. 5 is the circuit diagram of the servo alarm computing circuit exemplified by 16 tunnel servo alarm signals.
Fig. 6 is the circuit diagram of servo alarm drive circuit.
Fig. 7 is the circuit diagram of the outside scram button SE1 of collection signal S5 urgent-stop alarm Acquisition Circuit.
Fig. 8 is the circuit diagram of the outside scram button SE1 of collection signal S6 urgent-stop alarm Acquisition Circuit.
Fig. 9 is the startup/stopping for the startup/stop signal S1 for gathering normally opened start button SB1 and normally closed stop button SB2
The circuit diagram of signal acquisition circuit.
Figure 10 is alarm and the circuit diagram of startup/stop signal computing circuit.
Figure 11 is circuit diagram of the warning output with starting latching circuit.
Embodiment
Technical solution of the present invention is described in detail below, but protection scope of the present invention is not limited to the implementation
Example.
To make present disclosure more obvious understandable, done further below in conjunction with accompanying drawing 1-11 and embodiment
Description.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
Embodiment：
As shown in figure 1, the articulated robot Special safety signal control circuit based on transistor, including it is more for gathering
The multipath servo alarm Acquisition Circuit of the multipath servo alarm signal of articulated robot, it is defeated with multipath servo alarm Acquisition Circuit
Go out the servo alarm computing circuit that the connected Acquisition Circuit output signal that is used to alarm to multipath servo carries out NOR-operation, with watching
The servo alarm drive circuit for being used to provide warning drive signal that the output of clothes alarm computing circuit is connected, alarms with servo and drives
The alarm and startup/stop signal computing circuit that the output of dynamic circuit is connected, it is defeated with startup/stop signal computing circuit with alarming
Go out connected warning output with starting latching circuit, warning output is with starting latching circuit output alarm signal；
Articulated robot Special safety signal control circuit based on transistor, in addition to powered by 24V power supplys
Two outside scram button SE1, two outside scram button SE1 signal S5 and S6 are respectively connected to two and are used to gather outside suddenly
Stop button SE1 two-way urgent-stop alarm Acquisition Circuit, the output of two-way urgent-stop alarm Acquisition Circuit accesses alarm with starting/stopping
Stop signal computing circuit；
The normally opened start button SB1 and normally closed stop button SB2 for powering and connecting by 24V power supplys, pressed in normally opened startup
Access warning output in parallel is pressed with starting the normally opened of relay K1 in latching circuit between button SB1 and normally closed stop button SB2
Button K1A, normally opened button K1A output signal S9；Normally opened start button SB1 and normally closed stop button SB2 startup/stop signal
S1 accesses startup/stop signal Acquisition Circuit, and output access alarm and the startup/stopping of startup/stop signal Acquisition Circuit are believed
Number computing circuit.
Articulated robot Special safety signal control circuit based on transistor also includes being used to gather multi-joint machine
The multichannel band-type brake circuit of the multichannel motor internal contracting brake signal of people, prevents articulated robot from band-type brake failure occur.
Multichannel band-type brake circuit includes the one-to-one band-type brake circuit of motor internal contracting brake signal with articulated robot；Multiple armfuls
Lock circuit all same；If the motor internal contracting brake signal of articulated robot is the band-type brake signal BR1 of motor 1, the band-type brake signal of motor 2
BR2 ... motor N band-type brake signals BRN, N are the positive integer more than or equal to 1；
The present embodiment is described in detail exemplified by gathering the band-type brake signal BR1 of motor 1, and remaining motor internal contracting brake signal is adopted
Collection is identical with the band-type brake signal BR1 of motor 1, does not elaborate.
As shown in Fig. 2 band-type brake circuit includes current-limiting resistance R31, protective resistance R32, electric capacity C9, optocoupler U3, divider resistance
R33, divider resistance R34 ,+3.9V voltage-stabiliser tubes, anti-interference resistance R35 and N-channel MOS pipe, current-limiting resistance R31 mono- terminate+24V,
The current-limiting resistance R31 other ends and motor internal contracting brake signal BR1 access optocoupler U3 two inputs simultaneously, optocoupler U3 input simultaneously
Join filter capacitor C9 and protective resistance R32 and protective resistance R32 and filter capacitor C9 is arranged in parallel；In optocoupler U3 two outputs
One output connection direct current+24V voltage, another output concatenation divider resistance R33 one end, the connection of the divider resistance R33 other ends
One end of divider resistance R34 one end, the positive pole of+3.9V voltage-stabiliser tubes and anti-interference resistance R35, anti-interference resistance R35's is another
The grid of end connection N-channel MOS pipe；The source of the divider resistance R34 other end, the negative pole of+3.9V voltage-stabiliser tubes and N-channel MOS pipe
Extremely it is grounded, the band-type brake coil both ends of the motor 1 of the drain electrode connection articulated robot of N-channel MOS pipe.
Current-limiting resistance R31 in this band-type brake circuit is that the effect of the current-limiting resistance, protective resistance R32 of optocoupler U3 inputs is
Ensure the good shut-off of optocoupler U3 inputs, R33 and R34 is that+24V-S is divided to N-channel MOS die by divider resistance
Voltage ,+3.9V voltage-stabiliser tubes are protective effect needed for gate turn-on, ensure that N-channel MOS tube grid voltage is no more than rated value, R35
Effect be reduce high-frequency noise interference, improve circuit anti-interference ability.
Each band-type brake circuit controls the band-type brake coil of different motors respectively, as BR1 be motor 1 band-type brake control terminal, outside
What portion connect is the colelctor electrode of optocoupler output, the grounded emitter of outside optocoupler.What 1BP and 1BN connect is the band-type brake coil of motor 1
Both ends, conducting loop, the conducting of U3 optocouplers, the grid of power N-channel MOS pipe are formed when outside optocoupler turns on, between+24V and BR1
Level is+3.9V, then the band-type brake coil electricity of motor 1, the normal work of motor 1.When outside optocoupler turns off, between+24V and BR1
Without conducting loop, the shut-off of U3 optocouplers, the grid level of high power N-channel MOS pipe is 0V, and the band-type brake coil no power of motor 1 is electric
The band-type brake of machine 1 acts.Multichannel band-type brake circuit is also such.
Multipath servo alarm Acquisition Circuit includes the one-to-one servo report of servo alarm signal with articulated robot
Alert Acquisition Circuit, multiple servos alarm Acquisition Circuit all sames；Alarmed if the servo alarm signal of articulated robot is servo 1
Signal, the alarm signal of servo 2, the alarm signal of servo 3 ... servo N alarm signals；N is the positive integer more than or equal to 1.
The present embodiment is described in detail exemplified by gathering the alarm signal of servo 1, the collection of remaining servo alarm signal
It is identical with the alarm signal of servo 1, do not elaborate.
As shown in figure 3, servo alarm Acquisition Circuit include thermistor PTC1, current-limiting resistance R1, LED 1,
Protective resistance R2, anti-interference capacitor C1 and TVS diode,
Input of the thermistor PTC1 one end as servo alarm Acquisition Circuit, the access input of the alarm signal of servo 1
End, while one end of thermistor PTC1 one end connection TVS diode, the other end ground connection of TVS diode；Thermistor
The conduct simultaneously of one end of PTC1 another termination anti-interference capacitor C1 one end, the negative pole of LED 1 and protective resistance R2
The output end of servo alarm Acquisition Circuit, the output signal AR1 of output servo alarm Acquisition Circuit；The anti-interference capacitor C1 other ends
Sending and receiving optical diode LED1 positive pole and the protective resistance R2 other end, current-limiting resistance R1 is met in the negative pole of LED 1
One end, the external direct current+15V voltages of the current-limiting resistance R1 other ends.
The multipath servo alarm Acquisition Circuit of the present embodiment
What is terminated is the colelctor electrode of external circuit optocoupler output for " alarm of servo 1 input " of servo alarm Acquisition Circuit,
And what the emitter stage of external circuit optocoupler output connect is signal ground.
When servo normal work, then external circuit optocoupler is in the conduction state, the work of now servo alarm Acquisition Circuit
As state, to be positive source form connect by the current-limiting resistance R1 of series connection, emitting led 1 with external circuit optocoupler turns on loop,
Emitting led 1 is lit, then AR1 nodes now are low level state.When servo is alarmed, then external circuit optocoupler, which is in, cuts
Only state, due to being not turned on loop, so AR1 nodes are high level state.
Multipath servo alarm Acquisition Circuit is consistent, and AR1 represents the alarm collection signal of servo 1, and AR2 represents servo 2
Alarm collection signal, by that analogy, ARN represent servo N alarm collection signal.
Servo alarm computing circuit includes first carrying out the output signal (AR1~ARN) of multipath servo alarm Acquisition Circuit
NOR-operation, then NOR-operation is exported into progress and computing；Concrete operation formula is：
AR=(~(AR1+AR2)) ＆＆ (~(AR3+AR4)) ＆＆ ......s ＆＆ (~(ARN-1+ARN)) (formula 1)
Wherein, AR represents the total output of multiple-axis servo alarm；AR1, AR2~ARN are servo alarm Acquisition Circuit output signal；
It can be seen from above-mentioned formula, when multipath servo is in normal operating conditions, i.e. AR1~ARN is low level,
Then AR=1；When there is servo alarm, i.e. it is high level that AR1~ARN, which has one or more, then AR=0.
As shown in figure 4, the present embodiment by taking six tunnel servo alarm signals as an example, i.e., servo alarm signal is the alarm signal of servo 1
Number, the alarm signal of servo 2, the alarm signal of servo 3, the alarm signal of servo 4, the alarm signal of servo 5, the alarm signal of servo 6；Six tunnels
Servo alarm signal respectively by servo alarm Acquisition Circuit obtain six tunnel servos alarms output signal be respectively AR1, AR2,
AR3, AR4, AR5 and AR6.
Servo alarm computing circuit includes CD4001 chips and CD4081 chips, and the GND pin of CD4001 chips is grounded,
The VCC pin connection direct current+15V voltages of CD4001 chips, while VCC pin connection electric capacity C2 one end of CD4081 chips, electricity
Hold C2 other ends ground connection；The GND pin ground connection of CD4081 chips, the VCC pin connection direct current+15V voltages of CD4081 chips, together
When CD4081 chips VCC pin connection electric capacity C10 one end, electric capacity C10 other ends ground connection；
1A pins connection resistance R3 one end of CD4001 chips, resistance R3 other ends connection output signal AR1；CD4001 cores
1B pins connection resistance R4 one end of piece, the 1Y pins connection electricity of resistance R4 other ends connection output signal AR2, CD4001 chip
R5 one end is hindered, the resistance R5 other ends connect the 4A pins of CD4081 chips；
2A pins connection resistance R7 one end of CD4001 chips, resistance R7 other ends connection output signal AR3；CD4001 cores
2B pins connection resistance R8 one end of piece, the 2Y pins connection electricity of resistance R8 other ends connection output signal AR4, CD4001 chip
R6 one end is hindered, the resistance R6 other ends connect the 4B pins of CD4081 chips；
3A pins connection resistance R11 one end of CD4001 chips, resistance R11 other ends connection output signal AR5；CD4001
3B pins connection resistance R10 one end of chip, the 3Y pins of resistance R10 other ends connection output signal AR6, CD4001 chip connect
Connecting resistance R9 one end, the resistance R9 other ends connect the 3A pins of CD4081 chips；
The 3B pins of the 4Y pins connection CD4081 chips of CD4081 chips, the 3Y pins output AR letters of CD4081 chips
Number.
This servo alarm computing circuit in electric capacity C2 and C10 effect be CD4001 chips power decoupling, resistance R3,
R4, R5, R6, R7, R8, R9, R10, R11 effect are to reduce high-frequency noise interference, improve circuit anti-interference ability.
As shown in figure 5, by taking 16 tunnel servo alarm signals as an example, i.e., servo alarm signal is the alarm signal of servo 1, servo
2 alarm signals, the alarm signal of servo 3, the alarm signal of servo 4, the alarm signal of servo 5, the alarm signal of servo 6 ... servo 16
Alarm signal；16 tunnel servo alarm signals obtain the output signal of six tunnel servo alarms by servo alarm Acquisition Circuit respectively
Respectively AR1, AR2, AR3, AR4, AR5, AR6 ... AR16.
Servo alarm computing circuit includes two CD4001 chips and two CD4081 chips, and two CD4001 chips are complete
It is identical, it is the first CD4001 chips and the 2nd CD4001 chips；Identical two CD4081 chips are the first CD4081 chips
With the 2nd CD4081 chips.
GND pin in two CD4001 chips is grounded, the VCC pin connection direct current+15V electricity of the first CD4001 chips
Pressure, while VCC pin connection electric capacity C2 one end of CD4081 chips, electric capacity C2 other ends ground connection；The VCC of 2nd CD4001 chips
Pin connects direct current+15V voltages, while VCC pin connection electric capacity C13 one end of CD4081 chips, another terminations of electric capacity C13
Ground.
The GND pin of two CD4081 chips is grounded, the VCC pin connection direct current+15V electricity of the first CD4081 chips
Pressure, while VCC pin connection electric capacity C10 one end of CD4081 chips, electric capacity C10 other ends ground connection；2nd CD4081 chips
VCC pin connects direct current+15V voltages, while VCC pin connection electric capacity C14 one end of CD4081 chips, the electric capacity C14 other ends
Ground connection.
1A pins connection resistance R3 one end of first CD4001 chips, resistance R3 other ends connection output signal AR1；First
1B pins connection resistance R4 one end of CD4001 chips, resistance R4 other ends connection output signal AR2, the first CD4001 chips
1Y pins connection resistance R5 one end, the resistance R5 other ends connect the 4A pins of the first CD4081 chips；
2A pins connection resistance R7 one end of first CD4001 chips, resistance R7 other ends connection output signal AR3；First
2B pins connection resistance R8 one end of CD4001 chips, resistance R8 other ends connection output signal AR4, the first CD4001 chips
2Y pins connection resistance R6 one end, the resistance R6 other ends connect the 4B pins of the first CD4081 chips；
3A pins connection resistance R11 one end of first CD4001 chips, resistance R11 other ends connection output signal AR5；The
3B pins connection resistance R10 one end of one CD4001 chips, resistance R10 other ends connection output signal AR6, the first CD4001 cores
3Y pins connection resistance R9 one end of piece, the resistance R9 other ends connect the 3B pins of the first CD4081 chips；
4A pins connection resistance R38 one end of first CD4001 chips, resistance R38 other ends connection output signal AR7；The
4B pins connection resistance R37 one end of one CD4001 chips, resistance R37 other ends connection output signal AR8, the first CD4001 cores
4Y pins connection resistance R36 one end of piece, the resistance R36 other ends connect the 3A pins of the first CD4081 chips；
1A pins connection resistance R39 one end of 2nd CD4001 chips, resistance R39 other ends connection output signal AR9；The
1B pins connection resistance R40 one end of two CD4001 chips, the resistance R40 other ends connection output signal AR10, the 2nd CD4001
1Y pins connection resistance R41 one end of chip, the resistance R41 other ends connect the 2B pins of the first CD4081 chips；
2A pins connection resistance R43 one end of 2nd CD4001 chips, resistance R43 other ends connection output signal AR11；
2B pins connection resistance R44 one end of 2nd CD4001 chips, resistance R44 other ends connection output signal AR12, second
2Y pins connection resistance R42 one end of CD4001 chips, the resistance R42 other ends connect the 2A pins of the first CD4081 chips；
3A pins connection resistance R45 one end of 2nd CD4001 chips, resistance R45 other ends connection output signal AR13；
3B pins connection resistance R46 one end of 2nd CD4001 chips, resistance R46 other ends connection output signal AR14, second
3Y pins connection resistance R47 one end of CD4001 chips, the resistance R47 other ends connect the 1B pins of the first CD4081 chips；
4A pins connection resistance R50 one end of 2nd CD4001 chips, resistance R50 other ends connection output signal AR16；
4B pins connection resistance R49 one end of 2nd CD4001 chips, resistance R19 other ends connection output signal AR15, second
4Y pins connection resistance R48 one end of CD4001 chips, the resistance R48 other ends connect the 1A pins of the first CD4081 chips；
The 1Y pin output signal AR4-4 of first CD4081 chips and the 2A pins for connecting the 2nd CD4081 chips, first
The 2Y pin output signal AR4-3 of CD4081 chips and the 2B pins for connecting the 2nd CD4081 chips；2nd CD4081 chips
2Y pins connect the 3A pins of the 2nd CD4081 chips；
The 3Y pin output signal AR4-2 of first CD4081 chips and the 1B pins for connecting the 2nd CD4081 chips, first
The 4Y pin output signal AR4-1 of CD4081 chips and the 2A pins for connecting the 2nd CD4081 chips；2nd CD4081 chips
1Y pins connect the 3B pins of the 2nd CD4081 chips；The 3Y pins output AR signals of 2nd CD4081 chips.
As shown in figure 5,16 tunnel computing expanded circuits of computing circuit of being alarmed for servo；When servo alarm computing circuit.
As shown in fig. 6, the servo alarm drive circuit of the present embodiment, including resistance R11, resistance R12, resistance R13, resistance
R14, resistance R15, resistance R25, resistance R26, resistance R27, diode D1, diode D2, NPN type triode Q1, the pole of positive-negative-positive three
Pipe Q2 ,+5V voltage-stabiliser tubes, LED 5, electric capacity C3 and electric capacity C7,
Resistance R11 one end connection direct current+15V voltages, the resistance R11 other end input as servo alarm drive circuit
Terminate the output signal AR of servo alarm computing circuit, while resistance R11 other end connection diode D1 positive pole, diode
D1 negative pole connection resistance R12 one end, resistance R12 other end connection resistance R13 one end, electric capacity C3 one end and NPN
Type triode Q1 base stage, the emitter stage of the resistance R13 other end, the electric capacity C3 other end and NPN type triode Q1 are grounded,
NPN type triode Q1 colelctor electrode connection resistance R14 one end and resistance R15 one end, resistance R14 other end connection direct current
+ 24V voltages, R15 other end connection PNP type triode Q2 base stage, PNP type triode Q2 emitter stage connection direct current+24V
Voltage, triode Q2 colelctor electrode connection diode D2 positive pole, diode D2 negative pole connection electric capacity C7 one end and+5V are steady
The negative pole of pressure pipe, positive pole connection resistance R25 one end of+5V voltage-stabiliser tubes and the positive pole of LED 5, light emitting diode
LED5 negative pole connection resistance R26 one end, the resistance R26 other end are watched as servo alarm drive circuit output end, output
Take the output signal S-AR-24V of alarm drive circuit, while resistance R26 other end connection resistance R27 one end, electric capacity C7
The other end, the resistance R25 other end and the resistance R27 other end be grounded.
The servo alarm drive circuit of the present embodiment
The total output AR of multipath servo alarm is admitted to the input of servo the alarm drive circuit, (multipath servo as AR=1
Equal alarm free), then understand that Q1 base stage is in the conduction state according to circuit, so as to which Q2 is turned on, AR-24V nodes and 24V power supply phases
Even.Otherwise AR=1 (has the alarm of one or more servo), then Q1, Q2 are in cut-off state, and AR-24V nodes break with 24V power supplys
Open.
In this servo alarm drive circuit, resistance R11 effect is that pull-up resistor, diode D1 effects are to improve AR inputs
The conducting voltage at end is so as to improve antijamming capability, resistance R12 is the current-limiting resistance of NPN type triode Q1 base stages, resistance R13 is
Grounding resistance effect is to ensure that NPN type triode Q1 is well turned off, electric capacity C3 plays clamper for decoupling protection electric capacity, resistance R14
Effect ensures that PNP type triode Q2 is well turned off, resistance R15 is the current-limiting resistance of PNP type triode Q2 base stages, D2 is anti-reverse
Diode, Q2 is played a protective role.
As shown in fig. 7, the outside scram button SE1 of collection signal S5 urgent-stop alarm Acquisition Circuit includes electric capacity C4 ,+5V
Voltage-stabiliser tube, resistance R16, resistance R17, resistance R18 and LED 2, the negative pole of+5V voltage-stabiliser tubes are used as this urgent-stop alarm
One end of the input of Acquisition Circuit, simultaneously the negative pole connection electric capacity C4 of+5V voltage-stabiliser tubes, the positive pole connection resistance of+5V voltage-stabiliser tubes
R16 one end and the positive pole of LED 2, the negative pole connection resistance R17 of LED 2 one end, resistance R17
Output end of the other end as this urgent-stop alarm Acquisition Circuit, output signal S-S5, while resistance R17 other end connection electricity
R18 one end is hindered, the other end of the electric capacity C4 other end, the resistance R16 other end and resistance R18 is grounded.
The present embodiment, work as urgent-stop alarm, i.e., outside scram button SE1 is disconnected, then S5 is in vacant state, because resistance
R17 effect, circuit node S-S5 are low level state.When jerk is not alarmed, i.e., SE1 is in the conduction state, then S5 passes through urgency
Stop button with+24V power supplys to be connected, the high level input range being divided to+24V by R17 and R18 required for logic chip,
Then S-S5 is in high level state.The effect of+5V voltage-stabiliser tubes is to improve input antijamming capability, and R16 is power resistor, to ensure to go here and there
The voltage-stabiliser tube steady operation of connection, so as to provide current drain path.
As shown in figure 8, the outside scram button SE1 of collection signal S6 urgent-stop alarm Acquisition Circuit includes electric capacity C5 ,+5V
Voltage-stabiliser tube, resistance R19, resistance R20, resistance R21 and LED 3, the negative pole of+5V voltage-stabiliser tubes are used as this urgent-stop alarm
One end of the input of Acquisition Circuit, simultaneously the negative pole connection electric capacity C5 of+5V voltage-stabiliser tubes, the positive pole connection resistance of+5V voltage-stabiliser tubes
R19 one end and the positive pole of LED 3, the negative pole connection resistance R20 of LED 3 one end, resistance R20
Output end of the other end as this urgent-stop alarm Acquisition Circuit, output signal S-S6, while resistance R20 other end connection electricity
R21 one end is hindered, the other end of the electric capacity C5 other end, the resistance R19 other end and resistance R21 is grounded.
Signal S6 inputs for another way jerk, and this signal is identical with signal S5, is no longer described in further detail.
As shown in figure 9, gather opening for normally opened start button SB1 and normally closed stop button SB2 startup/stop signal S1
Dynamic/stop signal Acquisition Circuit includes electric capacity C6 ,+5V voltage-stabiliser tubes, resistance R22, resistance R23, resistance R24 and light emitting diode
The negative pole connection electricity of input of the negative pole of LED4 ,+5V voltage-stabiliser tube as this urgent-stop alarm Acquisition Circuit, simultaneously+5V voltage-stabiliser tubes
Hold C6 one end, positive pole connection resistance R22 one end of+5V voltage-stabiliser tubes and the positive pole of LED 4, light emitting diode
LED4 negative pole connection resistance R23 one end, the output end of the resistance R23 other end as this urgent-stop alarm Acquisition Circuit are defeated
Go out signal S-S1, while resistance R23 other end connection resistance R24 one end, the electric capacity C6 other end, resistance R22 it is another
End and resistance the R24 other end are grounded.
Signal S1 is robot startup/stop signal input, AR-24V for have already mentioned above for servo alarm driving it is defeated
Go out.
Scram button SE1 signal S5 urgent-stop alarm Acquisition Circuit, collection are outside anxious outside collection in the present embodiment
Stop button SE1 signal S6 urgent-stop alarm Acquisition Circuit and gather opening for normally opened start button SB1 and normally closed stop button SB2
Dynamic/stop signal S1 startup/stop signal Acquisition Circuit all same.
R17 in the outside scram button SE1 of collection signal S5 urgent-stop alarm Acquisition Circuit and R18 resistance play point
Pressure acts on, so that input reference signal (R20 and R21, R23 and R24 function of node S-S5 voltage matches CD4081 chips
Also it is such), C4, C5, C6 for decoupling protection electric capacity ,+5V voltage-stabiliser tubes effect be improve S5, S6, S1 node input voltage, so as to
It is bleeder resistance to improve antijamming capability, resistance R16, R19, R22 resistance, guarantee+5V voltage-stabiliser tube steady operations.
Alarm and startup/stop signal computing circuit include to the output signal S-S5 of two-way urgent-stop alarm Acquisition Circuit,
S-S6, the output signal S-S1 of startup/stop signal Acquisition Circuit and the output signal S-AR- of servo alarm drive circuit
24V is carried out and computing；Specifically operational formula is：
SS=(S-S6＆＆S-S5)s ＆＆ (S-S1＆＆S-AR-24V) (formula 2)
Wherein, SS represents alarm and the output of startup/stop signal computing circuit；
It can be seen from formula 2, when alarmed in the absence of servo, urgent-stop alarm, when stop button is not pressed, alarm, open
The output signal SS of dynamic/stop signal computing circuit be high level state, and when exist servo alarm, urgent-stop alarm or stopping by
Button is pressed, then alarm, the output signal SS of startup/stop signal computing circuit are low level state；
It follows that then SS=1 during robot normal operation, robot alarm or SS=0 when stopping.
As shown in Figure 10, the alarm in the present embodiment includes CD4081 chips with startup/stop signal computing circuit,
CD4081 chips GND pin is grounded, the VCC pin connection direct current+15V voltages of CD4081 chips, while the VCC of CD4081 chips
Pin connection electric capacity C11 one end, electric capacity C11 other ends ground connection；The 1A pins connection urgent-stop alarm Acquisition Circuit of CD4081 chips
Output signal S-S5, CD4081 chip 1B pins connection urgent-stop alarm Acquisition Circuit output signal S-S6, CD4081 core
The 1Y pins connection diode D3 of piece negative pole；The 2A pins of CD4081 chips connect the defeated of startup/stop signal Acquisition Circuit
Go out the output signal S-AR-24V of the 2B pins connection output servo alarm drive circuit of signal S-S1, CD4081 chip,
The 2Y pin diodes D4 of CD4081 chips negative pole；
Diode D3 positive pole is with diode D4 positive pole as alarm and the output of startup/stop signal computing circuit
End, output signal SS, while diode D3 positive pole and diode D4 positive pole are all connected with resistance R31 one end, resistance R31's
The other end connects direct current+15V voltages.
As shown in figure 11, warning output includes diode D5, diode D6, diode D7, two poles with starting latching circuit
Pipe D8, resistance R29, resistance R30, electric capacity C8, electric capacity C12, NPN type triode Q4 and relay K1, diode D5 positive pole are made
For this warning output and the input for starting latching circuit, alarm and the output signal SS of startup/stop signal computing circuit by
Input accesses, diode D5 negative pole connection diode D6 positive pole, diode D6 negative pole connection diode D7 positive pole,
Diode D7 negative pole connection resistance R29 one end, the resistance R29 other end connection resistance R30 one end, electric capacity C8 one end
It is equal with NPN type triode Q4 base stage, the emitter stage of the resistance R30 other end, the electric capacity C8 other end and NPN type triode Q4
Ground connection, NPN type triode Q4 colelctor electrode connection electric capacity C12 one end and relay K1 one end, electric capacity C12 another termination
Ground, relay K1 other end connection direct current+24V voltages, in relay K1 both ends anti-parallel diodes D8；Relay K1
Output all the way be alarm output signal S11.
The warning output and startup latching circuit of the present embodiment, when start button action, and in the absence of servo alarm and suddenly
When stopping alarm, then SS is high level state, and now Q4 is conducting state, and "on" position, K1 are in so as to the coil of K1 relays
The two-way output end of relay is connected, then S11, S9 are connected respectively at+24V signals, and S11 output normal work signals, S9 is completed
Auto-lock function.And when stop button acts or servo, urgent-stop alarm occurs, then S11, S9 disconnect with+24V respectively, outwards defeated
Go out alarm signal and self-locking disconnects.
It is that multiaxis machine is realized by transistor based on the articulated robot Special safety signal control circuit of transistor
The collection and processing of the safety signals such as the servo alarm signal of device people, urgent-stop alarm signal, robot startup/stop signal.Together
When, the drive circuit of robot motor's band-type brake is realized by power N-channel MOS pipe transistor.
Part that the present invention does not relate to is same as the prior art or can be realized using prior art.
As described above, although the present invention has been represented and described with reference to specific preferred embodiment, but it must not be explained
For to the limitation of itself of the invention., can be right under the premise of the spirit and scope of the present invention that appended claims define are not departed from
Various changes can be made in the form and details for it.
Claims (8)
1. a kind of articulated robot Special safety signal control circuit based on transistor, it is characterised in that including for adopting
Collect the multipath servo alarm Acquisition Circuit of the multipath servo alarm signal of articulated robot, with multipath servo alarm Acquisition Circuit
The Acquisition Circuit output signal of being used to alarm to multipath servo that is connected of output carry out the servo of NOR-operation and alarm computing circuit,
The servo alarm drive circuit for being used to provide warning drive signal that output with servo alarm computing circuit is connected, with servo report
The alarm and startup/stop signal computing circuit that the output of alert drive circuit is connected, with alarm and startup/stop signal computing electricity
Output connected warning output in road is with starting latching circuit, and warning output is with starting latching circuit output alarm signal；
Articulated robot Special safety signal control circuit based on transistor, in addition to two to be powered by 24V power supplys
Outside scram button SE1, two outside scram button SE1 signal S5 and S6 be respectively connected to two be used to gathering outside jerk by
Button SE1 two-way urgent-stop alarm Acquisition Circuit, the output of two-way urgent-stop alarm Acquisition Circuit access alarm and believed with startup/stopping
Number computing circuit；
The normally opened start button SB1 and normally closed stop button SB2 for powering and connecting by 24V power supplys, in normally opened start button SB1
Normally opened button K1A of the access warning output in parallel with starting the relay K1 in latching circuit between normally closed stop button SB2,
Normally opened button K1A output signal S9；Normally opened start button SB1 and normally closed stop button SB2 startup/stop signal S1 accesses
Startup/stop signal Acquisition Circuit, output access alarm and the startup/stop signal computing of startup/stop signal Acquisition Circuit
Circuit.
2. the articulated robot Special safety signal control circuit based on transistor, its feature exist as claimed in claim 1
In the articulated robot Special safety signal control circuit based on transistor also includes being used to gather the more of articulated robot
The multichannel band-type brake circuit of road motor internal contracting brake signal；Multichannel band-type brake circuit is included with the motor internal contracting brake signal of articulated robot one by one
Corresponding band-type brake circuit；Multiple band-type brake circuit all sames；If the motor internal contracting brake signal of articulated robot is the band-type brake signal of motor 1
BR1, the band-type brake signal BR2 of motor 2 ... motor N band-type brake signals BRN, N are the positive integer more than or equal to 1；
Band-type brake circuit includes current-limiting resistance R31, protective resistance R32, electric capacity C9, optocoupler U3, divider resistance R33, divider resistance
R34 ,+3.9V voltage-stabiliser tube, anti-interference resistance R35 and N-channel MOS pipe, current-limiting resistance R31 mono- terminate+24V, and current-limiting resistance R31 is another
One end and motor internal contracting brake signal BR1 access optocoupler U3 two inputs simultaneously, in optocoupler U3 input parallel filtering electric capacity C9
It is arranged in parallel with protective resistance R32 and protective resistance R32 and filter capacitor C9；An output connection in optocoupler U3 two outputs
Direct current+24V voltages, another output concatenation divider resistance R33 one end, divider resistance R33 other ends connection divider resistance R34's
One end of one end, the positive pole of+3.9V voltage-stabiliser tubes and anti-interference resistance R35, anti-interference resistance R35 other end connection N-channel MOS
The grid of pipe；The source grounding of the divider resistance R34 other end, the negative pole of+3.9V voltage-stabiliser tubes and N-channel MOS pipe, N-channel
The band-type brake coil both ends of the motor 1 of the drain electrode connection articulated robot of metal-oxide-semiconductor.
3. the articulated robot Special safety signal control circuit based on transistor, its feature exist as claimed in claim 1
In multipath servo alarm Acquisition Circuit includes servo alarm one-to-one with the servo alarm signal of articulated robot and gathered
Circuit, multiple servos alarm Acquisition Circuit all sames；If the servo alarm signal of articulated robot be the alarm signal of servo 1,
The alarm signal of servo 2, the alarm signal of servo 3 ... servo N alarm signals；N is the positive integer more than or equal to 1；
Servo alarm Acquisition Circuit includes thermistor PTC1, current-limiting resistance R1, LED 1, protective resistance R2, anti-
Interference capacitors C1 and TVS diode,
Input of the thermistor PTC1 one end as servo alarm Acquisition Circuit, the alarm signal of servo 1 access input, together
When thermistor PTC1 one end connection TVS diode one end, the other end ground connection of TVS diode；Thermistor PTC1's
One end of another termination anti-interference capacitor C1 one end, the negative pole of LED 1 and protective resistance R2 is used as servo report simultaneously
The output end of alert Acquisition Circuit, the output signal AR1 of output servo alarm Acquisition Circuit；Anti-interference capacitor C1 other end sending and receiving light
The positive pole of diode (LED) 1 and the protective resistance R2 other end, current-limiting resistance R1 one end is connect in the negative pole of LED 1,
External direct current+15V the voltages of the current-limiting resistance R1 other ends.
4. the articulated robot Special safety signal control circuit based on transistor, its feature exist as claimed in claim 1
In servo alarm computing circuit includes first carrying out the output signal (AR1~ARN) of multipath servo alarm Acquisition Circuit or non-fortune
Calculate, then NOR-operation is exported into progress and computing；Concrete operation formula is：
AR=(~(AR1+AR2)) ＆＆ (~(AR3+AR4)) ＆＆ ......s ＆＆ (~(ARN-1+ARN)) (formula 1)
Wherein, AR represents the total output of multiple-axis servo alarm；AR1, AR2~ARN are servo alarm Acquisition Circuit output signal；
It can be seen from above-mentioned formula, when multipath servo is in normal operating conditions, i.e. AR1~ARN is low level, then AR
=1；When there is servo alarm, i.e. it is high level that AR1~ARN, which has one or more, then AR=0.
5. the articulated robot Special safety signal control circuit based on transistor, its feature exist as claimed in claim 1
In servo alarm drive circuit includes resistance R11, resistance R12, resistance R13, resistance R14, resistance R15, resistance R25, resistance
R26, resistance R27, diode D1, diode D2, NPN type triode Q1, PNP type triode Q2 ,+5V voltage-stabiliser tubes, light-emitting diodes
Pipe LED5, electric capacity C3 and electric capacity C7,
Resistance R11 one end connection direct current+15V voltages, the resistance R11 other end inputs as servo alarm drive circuit to be terminated
The output signal AR of servo alarm computing circuit, while resistance R11 other end connection diode D1 positive pole, diode D1's
Negative pole connection resistance R12 one end, resistance R12 other end connection resistance R13 one end, electric capacity C3 one end and NPN type three
Pole pipe Q1 base stage, the emitter stage of the resistance R13 other end, the electric capacity C3 other end and NPN type triode Q1 are grounded, NPN
Type triode Q1 colelctor electrode connection resistance R14 one end and resistance R15 one end, resistance R14 other end connection direct current+
24V voltages, R15 other end connection PNP type triode Q2 base stage, triode Q2 emitter stage connection direct current+24V voltages,
Triode Q2 colelctor electrode connection diode D2 positive pole, diode D2 negative pole connection electric capacity C7 one end and+5V voltage-stabiliser tubes
Negative pole, positive pole connection resistance R25 one end of+5V voltage-stabiliser tubes and the positive pole of LED 5, LED 5
Negative pole connection resistance R26 one end, the resistance R26 other end is used as servo alarm drive circuit output end, output servo report
The output signal S-AR-24V of alert drive circuit, while resistance R26 other end connection resistance R27 one end, electric capacity C7's is another
The other end of one end, the resistance R25 other end and resistance R27 is grounded.
6. the articulated robot Special safety signal control circuit based on transistor, its feature exist as claimed in claim 1
In, gather outside scram button SE1 signal S5 urgent-stop alarm Acquisition Circuit include electric capacity C4 ,+5V voltage-stabiliser tubes, resistance R16,
Resistance R17, resistance R18 and LED 2, the input of the negative poles of+5V voltage-stabiliser tubes as this urgent-stop alarm Acquisition Circuit
The one end at end, simultaneously the negative pole connection electric capacity C4 of+5V voltage-stabiliser tubes, the positive pole of+5V voltage-stabiliser tubes connect resistance R16 one end and lighted
The positive pole of diode (LED) 2, the negative pole connection resistance R17 of LED 2 one end, the resistance R17 other end are used as this
The output end of urgent-stop alarm Acquisition Circuit, output signal S-S5, while resistance the R17 other end connection resistance R18 one end, electricity
The other end, the resistance R16 other end and the resistance R18 other end for holding C4 are grounded；
The outside scram button SE1 of collection signal S6 urgent-stop alarm Acquisition Circuit includes electric capacity C5 ,+5V voltage-stabiliser tubes, resistance
R19, resistance R20, resistance R21 and LED 3, the negative pole of+5V voltage-stabiliser tubes is as the defeated of this urgent-stop alarm Acquisition Circuit
Enter end, simultaneously the negative pole connection electric capacity C5 of+5V voltage-stabiliser tubes one end, the positive pole connection resistance R19 of+5V voltage-stabiliser tubes one end and hair
Optical diode LED3 positive pole, the negative pole connection resistance R20 of LED 3 one end, resistance R20 other end conduct
The output end of this urgent-stop alarm Acquisition Circuit, output signal S-S6, while resistance the R20 other end connection resistance R21 one end,
The other end of the electric capacity C5 other end, the resistance R19 other end and resistance R21 is grounded；
Gather normally opened start button SB1 and normally closed stop button SB2 startup/stop signal S1 startup/stop signal collection
Circuit includes electric capacity C6 ,+5V voltage-stabiliser tubes, resistance R22, resistance R23, resistance R24 and LED 4 ,+5V voltage-stabiliser tubes
One end of input of the negative pole as this urgent-stop alarm Acquisition Circuit, simultaneously the negative pole connection electric capacity C6 of+5V voltage-stabiliser tubes ,+5V are steady
Positive pole connection resistance R22 one end of pressure pipe and the positive pole of LED 4, the negative pole connection electricity of LED 4
Hinder R23 one end, the output end of the resistance R23 other end as this urgent-stop alarm Acquisition Circuit, output signal S-S1, while electricity
Hinder R23 other end connection resistance R24 one end, the electric capacity C6 other end, the resistance R22 other end and resistance R24 it is another
End is grounded.
7. the articulated robot Special safety signal control circuit based on transistor, its feature exist as claimed in claim 1
In, alarm includes output signal S-S5, S-S6 to two-way urgent-stop alarm Acquisition Circuit with startup/stop signal computing circuit,
The output signal S-S1 of startup/stop signal Acquisition Circuit and the output signal S-AR-24V of servo alarm drive circuit are carried out
With computing；Specifically operational formula is：
SS=(S-S6＆＆S-S5)s ＆＆ (S-S1＆＆S-AR-24V) (formula 2)
Wherein, SS represents alarm and the output of startup/stop signal computing circuit；
It can be seen from formula 2, when alarmed in the absence of servo, urgent-stop alarm, when stop button is not pressed, alarm, start/stop
The output signal SS of stop signal computing circuit is high level state, and works as and servo alarm, urgent-stop alarm or stop button quilt be present
Press, then alarm, the output signal SS of startup/stop signal computing circuit are low level state；
It follows that then SS=1 during robot normal operation, robot alarm or SS=0 when stopping.
8. the articulated robot Special safety signal control circuit based on transistor, its feature exist as claimed in claim 1
In warning output includes diode D5, diode D6, diode D7, diode D8, resistance R29, resistance with starting latching circuit
R30, electric capacity C8, electric capacity C12, NPN type triode Q4 and relay K1, diode D5 positive pole is as this warning output and startup
The input of latching circuit, alarm and accessed with the output signal SS of startup/stop signal computing circuit by input, diode D5
Negative pole connection diode D6 positive pole, diode D6 negative pole connection diode D7 positive pole, diode D7 negative pole connection
Resistance R29 one end, the resistance R29 other end connect resistance R30 one end, electric capacity C8 one end and NPN type triode Q4
Base stage, the emitter stage of the resistance R30 other end, the electric capacity C8 other end and NPN type triode Q4 are grounded, NPN type triode
Q4 colelctor electrode connection electric capacity C12 one end and relay K1 one end, electric capacity C12 other end ground connection, relay K1's is another
One end connects direct current+24V voltages, in relay K1 both ends anti-parallel diodes D8；Relay K1 output all the way is report
Alert output signal S11.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114260904A (en) * | 2022-01-26 | 2022-04-01 | 深圳市恒文利科技有限公司 | Self-locking type emergency stop control circuit of robot and implementation method thereof |
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| CN107621799B (en) | 2023-10-20 |
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