CN109888759A - A kind of robot braking protection circuit - Google Patents
A kind of robot braking protection circuit Download PDFInfo
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- CN109888759A CN109888759A CN201910149462.2A CN201910149462A CN109888759A CN 109888759 A CN109888759 A CN 109888759A CN 201910149462 A CN201910149462 A CN 201910149462A CN 109888759 A CN109888759 A CN 109888759A
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Abstract
The invention discloses a kind of robots to brake protection circuit; including voltage monitoring unit, control unit and discharge cell; voltage monitoring unit includes high pressure monitoring modular and low voltage monitoring module, and control unit includes metal-oxide-semiconductor drive module and clock module, and discharge cell includes discharge module and fan；High pressure monitoring modular is connected with clock module, and low voltage monitoring module is connect with discharge module, and metal-oxide-semiconductor drive module is connect with clock module, and metal-oxide-semiconductor drive module is also connect with discharge module, and discharge module is connect with fan；The present invention has real-time monitoring power supply high pressure and low pressure, avoids the advantages of high-voltage pulse is to equipment damage.
Description
Technical field
The present invention relates to robots to brake protection technique field, is more particularly to a kind of robot braking protection circuit.
Background technique
Conventional industrial robot brakes protection protection circuit and is generally completed by servo-driver itself, is not necessarily to producer, robot
Design, it is only necessary to it is realized by the external high-power braking resistor of servo-driver, and the robot that cooperates is generally by servo-drive
It is packaged into composition shutdown mould group with motor and encoder etc. to be placed in above robot arm, therefore mould group space of shutting down is nervous
In addition the limitation of space layout, so needing the external braking defencive function module in control cabinet；Conventional industrial robot's driving
Have CPU module inside device, can distribute a part of resource for brake protection, control program is more flexible, but there is also one
A little disadvantages, such as monitoring current, not can avoid high-voltage pulse to equipment damage；Discharge resistance resistance value is big, and discharge current is small, if
It is standby power on after discharge always.
Summary of the invention
Braking protection protection circuit technical problem to be solved by the present invention lies in the robot of the prior art not can avoid
The problem of high-voltage pulse is to equipment damage.
The present invention is to solve above-mentioned technical problem by the following technical programs: a kind of robot braking protection circuit, packet
Voltage monitoring unit, control unit and discharge cell are included, the voltage monitoring unit includes high pressure monitoring modular and low voltage monitoring
Module, described control unit include metal-oxide-semiconductor drive module and clock module, and the discharge cell includes discharge module and fan；
The high pressure monitoring modular is connected with the clock module, and the low voltage monitoring module is connect with the discharge module, the MOS
Pipe drive module is connect with the clock module, and the metal-oxide-semiconductor drive module is also connect with the discharge module, the electric discharge mould
Block is connect with the fan.The application is to be integrated in integrated module, and fever is concentrated very much, is laid out by proportional space, with fan
It is integrated in one, takes heat away at the first time, avoids pollution the control unit of control cabinet, and the not participation of CPU, is used completely
The realization of hardware module, is compared compared with conventional industrial robot, and reaction is faster.Discharge resistance resistance value is smaller, will not after device power
It discharges always, only when supply voltage is more than setting safe voltage, discharge module just works, discharge resistance electric discharge, limitation electricity
Source voltage value drops to given threshold, the release of acceleration system equipment electricity in safety value, power cut-off, voltage.
Preferably, the high pressure monitoring modular includes diode D1, resistance R1, resistance R2, triode Q1 and resistance R3,
The cathode of the diode D1 is connect with monitoring objective, and monitoring objective voltage is V1；The anode of the diode D1 sequentially passes through
The resistance R1 and resistance R2 ground connection, the base stage of the triode Q1 connect on the line of the resistance R1 and resistance R2,
The emitter of the triode Q1 is grounded；A termination power vd D of the resistance R3, the current collection of another termination triode Q1
Pole and the clock module.Diode D1, resistance R1 and resistance R2 group voltage divider, triode Q1 are triode switch, resistance
R3 is output pull-up resistor.When monitoring objective voltage V1 is more than safe voltage, the base stage of triode Q1 and the voltage difference of emitter
Vbe increases, and is greater than cut-in voltage, and triode Q1 conducting exports low level enable signal, and otherwise output is always maintained at high level.
Preferably, the low voltage monitoring module includes diode D2, resistance R4, resistance R5, capacitor C1, triode Q2, LED
Lamp D3, resistance R6, diode D4 and diode D5, the cathode of the diode D2 are connect with the monitoring objective, monitor mesh
Mark voltage is V1, and the anode of the diode D2 sequentially passes through the resistance R4 and resistance R5 ground connection, the base of the triode Q2
Pole connects on the line of the resistance R4 and resistance R5；The base stage of triode Q2 described in the mono- end Jie of capacitor C1, the other end
Connect the ground terminal in the resistance R5；The emitter of the triode Q2 connects the anode of the LED light D3, the LED light D3's
Cathode ground connection；The collector of the triode Q2 connects one end of the resistance R6, another termination of the resistance R6 two pole
The cathode of pipe D2；The cathode of the diode D4 connect the resistance R6 one end and the discharge module, the diode D4's
Anode connects the cathode of the diode D5, the plus earth of the diode D5.Low pressure is set when monitoring objective voltage V1 is higher than,
The base voltage of triode Q2 and the difference Vbe of emitter voltage are greater than cut-in voltage, and triode Q2 conducting, LED light D3 is bright, output
Signal voltage is approximately equal to the two side pressures drop of LED light D3, when monitoring objective voltage V1 is lower than setting low pressure, the base stage electricity of triode Q2
The difference Vbe of pressure and emitter voltage is less than cut-in voltage, triode Q2 cut-off, and monitoring objective voltage V1 passes through resistance R6, two poles
Pipe D4 and diode D5 forming circuit, output signal voltage are the sum of diode D4, diode D5 pressure stabilizing value.
Preferably, the clock module includes Schmidt trigger U1, capacitor C2, capacitor C3 and resistance R7, described to apply
The first pin and second pin of schmitt trigger U1 connects the other end of the resistance R3, and the of the Schmidt trigger U1
Three pins connect the metal-oxide-semiconductor drive module, and the 4th pin of the Schmidt trigger U1 is connect with its 9th pin, the electricity
One end of resistance R7 is connect with the 4th pin of the Schmidt trigger U1, and the other end of resistance R7 is connect by the capacitor C3
Ground；The 5th pin of the Schmidt trigger U1 meets power vd D, and the 6th pin connects the other end of the resistance R7, and the 7th draws
Foot ground connection, the 8th pin meet power vd D；The tenth pin of the Schmidt trigger U1 connects the metal-oxide-semiconductor drive module, described
The 14th pin of Schmidt trigger U1 connects one end of the capacitor C2, a termination power vd D of the capacitor C2, the other end
Ground connection.The NAND gate all the way and resistance R7, capacitor C3 of Schmidt trigger U1 forms oscillating circuit, generates fixed frequency clock and gives
Metal-oxide-semiconductor drive module.
Preferably, the model HEF4093BT of the Schmidt trigger U1.
Preferably, the metal-oxide-semiconductor drive module includes that shift register U2, capacitor C4 and No. eight push-pull circuits i.e. first push away
Circuit is drawn to the 8th push-pull circuit, the 16th pin of the shift register U2 connects one end of the capacitor C4, the capacitor
A termination power vd D of C4, other end ground connection；The 6th pin of the shift register U2, the 8th pin and the 14th are drawn
Foot is grounded；Tenth pin of the first pin and the 9th pin of the shift register U2 with the Schmidt trigger U1
Connection；The 15th pin of the shift register U2 is connect with the third pin of the Schmidt trigger U1；Described first
Push-pull circuit draws with the 13rd pin of the shift register U2, the 12nd pin, the 11st respectively to the 8th push-pull circuit
Foot, second pin, the 5th pin, the 4th pin, third pin and the connection of the tenth pin.Shift register U2 is double seals in simultaneously
Four bit shift register out, clock source is the clock that clock module generates, with clock frequency to high voltage monitoring circuit output signal
It samples and is sequentially output, effectively discharge enable signal when adopting low level, 8 road IO output is sequentially output high electricity with clock frequency
Flat, subsequent continuous timing updates I/O state.
Preferably, the model HEF4015BT of the shift register U2.
Preferably, push-pull circuit described in every road is made of two triodes, and first push-pull circuit includes triode
The base stage of Q3 and triode Q4, the triode Q3 and triode Q4 connect with the 13rd pin of the shift register U2
It connects, the collector of the triode Q3 connects power vd D, the transmitting with the triode Q4 respectively of the emitter of the triode Q3
Pole and discharge module connection, the grounded collector of the triode Q4.Push-pull circuit improves driving capability.
Preferably, the discharge module includes that No. nine discharge circuits i.e. the first discharge circuit is described to the 9th discharge circuit
First discharge circuit is connect with the low voltage monitoring module, second discharge circuit to the 9th discharge circuit respectively with institute
The first push-pull circuit to the 8th push-pull circuit is stated to connect, first discharge circuit to the 9th discharge circuit with the prison
Survey target connection.
Preferably, discharge circuit described in every road includes a metal-oxide-semiconductor, two resistance and two diodes；Described first
Discharge circuit includes that metal-oxide-semiconductor Q19, resistance R8 and resistance R9, diode D6 and LED light D7, the grid of the metal-oxide-semiconductor Q19 connect
The cathode of the diode D4, the source electrode ground connection of the metal-oxide-semiconductor Q19, the drain electrode of the metal-oxide-semiconductor Q19 connect the diode respectively
The anode of D6 and one end of the resistance R9, the cathode of the LED light D7 connect one end of the resistance R9, and the resistance R9's is another
The one termination monitoring objective, the anode of the LED light D7 connect one end of the resistance R8, and the cathode of the diode D6 meets institute
State the other end of resistance R8, another termination monitoring objective of the resistance R8；Second discharge circuit includes metal-oxide-semiconductor
Q20, resistance R10 and resistance R11, diode D8 and LED light D9, unlike first discharge circuit, described second
The grid of the metal-oxide-semiconductor Q20 of discharge circuit connects the transmitting of the triode Q3.Discharge module is by multichannel discharge circuit and fan group
At fan is distributed for accelerating discharge resistance heat, can reduce discharge circuit quantity according to actual needs, and resistance R9 is high-power
Cement resistor, a termination monitoring objective power supply line, the other end are controlled by metal-oxide-semiconductor Q19.When voltage monitoring unit monitor it is excessively high or
Low-voltage is crossed, the grid voltage MOS_Driver1 of metal-oxide-semiconductor Q19 is high level VDD, and metal-oxide-semiconductor Q19 works in constant current area, metal-oxide-semiconductor
Q19 conducting, resistance R9 consume energy, and LED light D7 is bright.In the normal range, metal-oxide-semiconductor Q19 is in pinch off to monitoring objective voltage V1
Area, monitoring objective voltage V1 are disconnected over the ground.
The present invention has the advantage that compared with prior art
(1) voltage monitoring unit, real-time monitoring power supply high pressure and low pressure are provided, when supply voltage is more than setting safe voltage
When, discharge module work, discharge resistance discharges, and limitation supply voltage value drops to setting threshold in safety value, power cut-off, voltage
Value, acceleration system equipment electricity release, avoids high-voltage pulse to equipment damage.
(2) discharge cell controlled based on metal-oxide-semiconductor is provided, discharge resistance resistance value is smaller, will not put always after device power
Electricity, only when supply voltage is more than setting safe voltage, discharge module just works.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, attached drawing needed in invention description will be made below
Simply introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, common for this field
For technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural block diagram of robot braking protection circuit disclosed in the embodiment of the present invention；
Fig. 2 is that a kind of circuit of the high pressure monitoring modular of robot braking protection circuit disclosed in the embodiment of the present invention is former
Reason figure；
Fig. 3 is that a kind of circuit of the low voltage monitoring module of robot braking protection circuit disclosed in the embodiment of the present invention is former
Reason figure；
Fig. 4 is a kind of circuit theory of the clock module of robot braking protection circuit disclosed in the embodiment of the present invention
Figure；
Fig. 5 is a kind of circuit of the metal-oxide-semiconductor drive module of robot braking protection circuit disclosed in the embodiment of the present invention
Schematic diagram；
Fig. 6 is a kind of circuit theory of the discharge module of robot braking protection circuit disclosed in the embodiment of the present invention
Figure.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
As shown in Figure 1, a kind of robot braking protection circuit, including voltage monitoring unit, control unit and discharge cell,
The voltage monitoring unit includes high pressure monitoring modular and low voltage monitoring module, and described control unit includes metal-oxide-semiconductor drive module
And clock module, the discharge cell include discharge module and fan；The high pressure monitoring modular is connected with the clock module,
The low voltage monitoring module is connect with the discharge module, and the metal-oxide-semiconductor drive module is connect with the clock module, described
Metal-oxide-semiconductor drive module is also connect with the discharge module, and the discharge module is connect with the fan.
As shown in Fig. 2, the high pressure monitoring modular includes diode D1, resistance R1, resistance R2, triode Q1 and resistance
The cathode of R3, the diode D1 are connect with monitoring objective, and monitoring objective voltage is V1；The anode of the diode D1 sequentially leads to
The resistance R1 and resistance R2 ground connection is crossed, the base stage of the triode Q1 connects the line in the resistance R1 and the resistance R2
On, the emitter of the triode Q1 is grounded；A termination power vd D of the resistance R3, another termination triode Q1's
Collector.
As shown in figure 3, the low voltage monitoring module include diode D2, resistance R4, resistance R5, capacitor C1, triode Q2,
LED light D3, resistance R6, diode D4 and diode D5, the cathode of the diode D2 are connect with the monitoring objective, monitoring
Target voltage is V1, and the anode of the diode D2 sequentially passes through the resistance R4 and resistance R5 ground connection, the triode Q2's
Base stage connects on the line of the resistance R4 and resistance R5；The base stage of triode Q2 described in the mono- end Jie of capacitor C1, it is another
Terminate at the ground terminal of the resistance R5；The emitter of the triode Q2 meets the anode of the LED light D3, the LED light D3
Cathode ground connection；The collector of the triode Q2 connects one end of the resistance R6, another termination described two of the resistance R6
The cathode of pole pipe D2；The cathode of the diode D4 connects one end of the resistance R6, and the anode of the diode D4 connects described two
The cathode of pole pipe D5, the plus earth of the diode D5.
As shown in figure 4, the clock module includes Schmidt trigger U1, capacitor C2, capacitor C3 and resistance R7, it is described
The model HEF4093BT of Schmidt trigger U1.The first pin and second pin of the Schmidt trigger U1 meets institute
The other end of resistance R3 is stated, the 4th pin of the Schmidt trigger U1 is connect with its 9th pin, and the one of the resistance R7
End is connect with the 4th pin of the Schmidt trigger U1, and the other end of resistance R7 is grounded by the capacitor C3；It is described to apply
The 5th pin of schmitt trigger U1 meets power vd D, and the 6th pin connects the other end of the resistance R7, and the 7th pin is grounded, the
Eight pins meet power vd D；The 14th pin of the Schmidt trigger U1 connects one end of the capacitor C2, the capacitor C2's
One termination power vd D, other end ground connection.
As shown in figure 5, the metal-oxide-semiconductor drive module includes shift register U2, capacitor C4 and No. eight push-pull circuits i.e.
One push-pull circuit to the 8th push-pull circuit, the model HEF4015BT of the shift register U2.The shift register U2's
16th pin connects one end of the capacitor C4, a termination power vd D of the capacitor C4, other end ground connection；The displacement is posted
The 6th pin, the 8th pin and the 14th pin of storage U2 is grounded；The first pin of the shift register U2 and
Nine pins are connect with the tenth pin of the Schmidt trigger U1；The 15th pin of the shift register U2 with it is described
The third pin of Schmidt trigger U1 connects；First push-pull circuit to the 8th push-pull circuit respectively with the shift LD
The 13rd pin of device U2, the 12nd pin, the 11st pin, second pin, the 5th pin, the 4th pin, third pin with
And the tenth pin connection.Push-pull circuit described in every road is made of two triodes, and the present embodiment is by taking the first push-pull circuit as an example
Circuit connecting relation is described, the second push-pull circuit is identical as the first push pull configeration to the 8th push-pull circuit, herein
It does not repeat them here.First push-pull circuit includes triode Q3 and triode Q4, the base stage of the triode Q3 and triode Q4
It is connect with the 13rd pin of the shift register U2, the collector of the triode Q3 connects power vd D, the triode
The emitter of Q3 connects the emitter of the triode Q4, the grounded collector of the triode Q4.
As shown in fig. 6, the discharge module includes No. nine discharge circuits i.e. the first discharge circuit to the 9th discharge circuit, institute
Discharge circuit quantity can be reduced according to actual needs by stating discharge module, and first discharge circuit and the low voltage monitoring module connect
It connects, second discharge circuit to the 9th discharge circuit connects with first push-pull circuit to the 8th push-pull circuit respectively
It connects, first discharge circuit to the 9th discharge circuit is connect with the monitoring objective.Discharge circuit described in every road is equal
Including a metal-oxide-semiconductor, two resistance and two diodes；First discharge circuit includes metal-oxide-semiconductor Q19, resistance R8 and resistance
R9, diode D6 and LED light D7, the grid of the metal-oxide-semiconductor Q19 connect the cathode of the diode D4, the metal-oxide-semiconductor Q19's
Source electrode ground connection, the drain electrode of the metal-oxide-semiconductor Q19 meet anode and one end of the resistance R9 of the diode D6, the LED respectively
The cathode of lamp D7 connects one end of the resistance R9, and another termination monitoring objective of the resistance R9, the LED light D7 is just
Pole connects one end of the resistance R8, and the cathode of the diode D6 connects the other end of the resistance R8, and the resistance R8's is another
Terminate the monitoring objective；Second discharge circuit include metal-oxide-semiconductor Q20, resistance R10 and resistance R11, diode D8 and
LED light D9, unlike first discharge circuit, the grid of the metal-oxide-semiconductor Q20 of second discharge circuit connects three pole
The transmitting of pipe Q3.Third discharge circuit is identical as the second discharge circuit to the 9th discharge circuit structure, and this will not be repeated here.
The course of work and working principle of the invention are as follows: in high pressure monitoring modular, diode D1, resistance R1 and resistance R2 group
Voltage divider, triode Q1 are triode switch, and resistance R3 is output pull-up resistor.When monitoring objective voltage V1 is more than safety electricity
Pressure, the base stage of triode Q1 and the voltage difference Vbe of emitter increase, and are greater than cut-in voltage, and triode Q1 conducting exports low level
Enable signal, otherwise output is always maintained at high level.In low voltage monitoring module, low pressure is set when monitoring objective voltage V1 is higher than,
The base voltage of triode Q2 and the difference Vbe of emitter voltage are greater than cut-in voltage, and triode Q2 conducting, LED light D3 is bright, output
Signal voltage is approximately equal to the two side pressures drop of LED light D3, when monitoring objective voltage V1 is lower than setting low pressure, the base stage electricity of triode Q2
The difference Vbe of pressure and emitter voltage is less than cut-in voltage, triode Q2 cut-off, and monitoring objective voltage V1 passes through resistance R6, two poles
Pipe D4 and diode D5 forming circuit, output signal voltage are the sum of diode D4, diode D5 pressure stabilizing value.
The input signal of clock module is the output of high pressure monitoring modular, the NAND gate all the way and electricity of Schmidt trigger U1
It hinders R7, capacitor C3 and forms oscillating circuit, generate fixed frequency clock and give metal-oxide-semiconductor drive module.In metal-oxide-semiconductor drive module, displacement
Register U2 be it is double seal in and go out four bit shift registers, clock source is the clock that clock module generates, with clock frequency to height
Pressure observation circuit output signal sample and is sequentially output, and is effectively discharged enable signal when adopting low level, and 8 road IO output is with clock
Frequency is sequentially output high level, and subsequent continuous timing updates I/O state.Every road driving constitutes push-pull circuit by two triodes, mentions
High driving ability.
Discharge module is made of multichannel discharge circuit and fan, and fan is distributed for accelerating discharge resistance heat, can basis
Actual needs reduction discharge circuit quantity, resistance R9 be high-power cement resistor, one termination monitoring objective power supply line, the other end by
Metal-oxide-semiconductor Q19 control.When voltage monitoring unit monitors too high or too low voltage, the grid voltage MOS_Driver1 of metal-oxide-semiconductor Q19
For high level VDD, metal-oxide-semiconductor Q19 work consumes energy in constant current area, metal-oxide-semiconductor Q19 conducting, resistance R9, and LED light D7 is bright.Monitor mesh
Mark voltage V1 in the normal range, metal-oxide-semiconductor Q19 is in pinch off region, and monitoring objective voltage V1 is disconnected over the ground.
By above technical scheme, a kind of robot braking protection circuit provided by the present application is to be integrated in integrated mould
Block, fever concentrate, are laid out by proportional space, are integrated in one with fan, take heat away at the first time, avoid pollution control very much
The control unit of cabinet, and the not participation of CPU use the realization of hardware module completely, compare compared with conventional industrial robot, react
Faster.Discharge resistance resistance value is smaller, will not discharge always after device power, only when supply voltage is more than setting safe voltage
When, discharge module just works, and discharge resistance electric discharge, limitation supply voltage value drops to setting threshold in safety value, power cut-off, voltage
Value, the release of acceleration system equipment electricity.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of robot braking protection circuit, which is characterized in that including voltage monitoring unit, control unit and discharge cell,
The voltage monitoring unit includes high pressure monitoring modular and low voltage monitoring module, and described control unit includes metal-oxide-semiconductor drive module
And clock module, the discharge cell include discharge module and fan；The high pressure monitoring modular is connected with the clock module,
The low voltage monitoring module is connect with the discharge module, and the metal-oxide-semiconductor drive module is connect with the clock module, described
Metal-oxide-semiconductor drive module is also connect with the discharge module, and the discharge module is connect with the fan.
2. a kind of robot braking protection circuit according to claim 1, which is characterized in that the high pressure monitoring modular packet
Diode D1, resistance R1, resistance R2, triode Q1 and resistance R3, the cathode of the diode D1 is included to connect with monitoring objective,
Monitoring objective voltage is V1；The anode of the diode D1 sequentially passes through the resistance R1 and resistance R2 ground connection, the triode
The base stage of Q1 connects on the line of the resistance R1 and resistance R2, and the emitter of the triode Q1 is grounded；The resistance
A termination power vd D of R3, the collector and the clock module of another termination triode Q1.
3. a kind of robot braking protection circuit according to claim 1, which is characterized in that the low voltage monitoring module packet
Diode D2, resistance R4, resistance R5, capacitor C1, triode Q2, LED light D3, resistance R6, diode D4 and diode D5 are included,
The cathode of the diode D2 is connect with the monitoring objective, and monitoring objective voltage is V1, and the anode of the diode D2 is sequentially
It is grounded by the resistance R4 and resistance R5, the base stage of the triode Q2 connects on the line of the resistance R4 and resistance R5；
The base stage of triode Q2 described in the mono- end Jie of capacitor C1, another ground terminal for terminating at the resistance R5；The triode
The emitter of Q2 connects the anode of the LED light D3, the cathode ground connection of the LED light D3；The collector of the triode Q2 meets institute
State one end of resistance R6, the cathode of another termination of resistance R6 diode D2；The cathode of the diode D4 is distinguished
Connect the resistance R6 one end and the discharge module, the anode of the diode D4 connects the cathode of the diode D5, described
The plus earth of diode D5.
4. a kind of robot braking protection circuit according to claim 3, which is characterized in that the clock module includes applying
Schmitt trigger U1, capacitor C2, the first pin and second pin of capacitor C3 and resistance R7, the Schmidt trigger U1 are equal
Connect the other end of the resistance R3, the third pin of the Schmidt trigger U1 connects the metal-oxide-semiconductor drive module, it is described apply it is close
The 4th pin of special trigger U1 is connect with its 9th pin, and the of one end of the resistance R7 and the Schmidt trigger U1
The other end of the connection of four pins, resistance R7 is grounded by the capacitor C3；The 5th pin of the Schmidt trigger U1 connects electricity
Source VDD, the 6th pin connect the other end of the resistance R7, the 7th pin ground connection, and the 8th pin meets power vd D；The Schmidt
The tenth pin of trigger U1 connects the metal-oxide-semiconductor drive module, and the 14th pin of the Schmidt trigger U1 connects the electricity
Hold one end of C2, a termination power vd D of the capacitor C2, other end ground connection.
5. a kind of robot braking protection circuit according to claim 4, which is characterized in that the Schmidt trigger U1
Model HEF4093BT.
6. a kind of robot braking protection circuit according to claim 4, which is characterized in that the metal-oxide-semiconductor drive module
Including shift register U2, capacitor C4 and No. eight push-pull circuits i.e. the first push-pull circuit to the 8th push-pull circuit, the displacement is posted
The 16th pin of storage U2 connects one end of the capacitor C4, a termination power vd D of the capacitor C4, other end ground connection；Institute
The 6th pin, the 8th pin and the 14th pin for stating shift register U2 are grounded；The first of the shift register U2
Pin and the 9th pin are connect with the tenth pin of the Schmidt trigger U1；Draw the 15th of the shift register U2
Foot is connect with the third pin of the Schmidt trigger U1；First push-pull circuit to the 8th push-pull circuit respectively with it is described
The 13rd pin, the 12nd pin, the 11st pin, second pin, the 5th pin, the 4th pin, of shift register U2
Three pins and the connection of the tenth pin.
7. a kind of robot braking protection circuit according to claim 6, which is characterized in that the shift register U2's
Model HEF4015BT.
8. a kind of robot braking protection circuit according to claim 6, which is characterized in that push-pull circuit described in every road is equal
It is made of two triodes, first push-pull circuit includes triode Q3 and triode Q4, the triode Q3 and triode
The base stage of Q4 is connect with the 13rd pin of the shift register U2, and the collector of the triode Q3 meets power vd D, institute
The emitter for stating triode Q3 is connect with the emitter of the triode Q4 and the discharge module respectively, the triode Q4
Grounded collector.
9. a kind of robot braking protection circuit according to claim 8, which is characterized in that the discharge module includes nine
Road discharge circuit i.e. the first discharge circuit to the 9th discharge circuit, first discharge circuit and the low voltage monitoring module connects
It connects, second discharge circuit to the 9th discharge circuit connects with first push-pull circuit to the 8th push-pull circuit respectively
It connects, first discharge circuit to the 9th discharge circuit is connect with the monitoring objective.
10. a kind of robot braking protection circuit according to claim 9, which is characterized in that discharge circuit described in every road
It include a metal-oxide-semiconductor, two resistance and two diodes；First discharge circuit includes metal-oxide-semiconductor Q19, resistance R8 and electricity
Resistance R9, diode D6 and LED light D7, the grid of the metal-oxide-semiconductor Q19 meet the cathode of the diode D4, the metal-oxide-semiconductor Q19
Source electrode ground connection, the drain electrode of the metal-oxide-semiconductor Q19 connects anode and one end of the resistance R9 of the diode D6 respectively, described
The cathode of LED light D7 meets one end of the resistance R9, another termination monitoring objective of the resistance R9, the LED light D7
Anode connect one end of the resistance R8, the cathode of the diode D6 connects the other end of the resistance R8, the resistance R8's
Another termination monitoring objective；Second discharge circuit include metal-oxide-semiconductor Q20, resistance R10 and resistance R11, diode D8 with
And LED light D9, unlike first discharge circuit, the grid of the metal-oxide-semiconductor Q20 of second discharge circuit connects described three
The emitter of pole pipe Q3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910149462.2A CN109888759B (en) | 2019-02-28 | 2019-02-28 | Robot braking protection circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910149462.2A CN109888759B (en) | 2019-02-28 | 2019-02-28 | Robot braking protection circuit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109888759A true CN109888759A (en) | 2019-06-14 |
| CN109888759B CN109888759B (en) | 2021-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910149462.2A Active CN109888759B (en) | 2019-02-28 | 2019-02-28 | Robot braking protection circuit |
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| Country | Link |
|---|---|
| CN (1) | CN109888759B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN88210948U (en) * | 1988-04-04 | 1988-12-21 | 山东电子研究所 | Automatic power saving protection unit |
| CN202353178U (en) * | 2011-11-08 | 2012-07-25 | 淮南万泰电子股份有限公司 | Universal protector |
| CN208028797U (en) * | 2018-01-30 | 2018-10-30 | 大族激光科技产业集团股份有限公司 | A kind of regenerative braking circuit of servo-drive system |
| US20190044322A1 (en) * | 2017-08-04 | 2019-02-07 | Dell Products L.P. | Over-voltage detection and port protection |
-
2019
- 2019-02-28 CN CN201910149462.2A patent/CN109888759B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN88210948U (en) * | 1988-04-04 | 1988-12-21 | 山东电子研究所 | Automatic power saving protection unit |
| CN202353178U (en) * | 2011-11-08 | 2012-07-25 | 淮南万泰电子股份有限公司 | Universal protector |
| US20190044322A1 (en) * | 2017-08-04 | 2019-02-07 | Dell Products L.P. | Over-voltage detection and port protection |
| CN208028797U (en) * | 2018-01-30 | 2018-10-30 | 大族激光科技产业集团股份有限公司 | A kind of regenerative braking circuit of servo-drive system |
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| Publication number | Publication date |
|---|---|
| CN109888759B (en) | 2021-01-26 |
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