Anti-false-collision robot emergency stop circuit

Abstract

The invention discloses an anti-false-collision robot emergency stop circuit. A push rod is connected with a displacement sensor for detecting the stroke, and a push rod stroke signal detected by thedisplacement sensor is processed by a stroke change rate calculation circuit, a false-collision decision circuit and an interlocking output circuit and then connected with a normally closed contact inseries to act on a power supply loop of the robot, so that the problem that an emergency stop button is mistakenly touched in use to cause mistaken stop is effectively solved. According to the emergency stop circuit, the stroke change rate in unit time is calculated through the push rod stroke signal, and whether the emergency button is manually pressed in an emergency situation or not is preliminarily determined by triggering the conduction and cut-off of a triode Q1 and a triode Q2 according to the stroke change rate; whether the push rod stroke reaches the lower limit position or not is determined by combining the states of a triode Q3 and a single-junction transistor T1, so that whether the emergency stop is manual and normal or not is determined; and the state of a photoelectric coupler U2 connected with the normally closed contact in series is controlled by outputting a high level and a low level, so that the power supply loop acting on the robot is reliably disconnected in an interlocking manner when the emergency stop is manually and normally carried out.

Description

Technical field [0001] The invention relates to the technical field of robot assembly parts, in particular to an emergency stop circuit of an anti-mishandling robot. Background technique [0002] With the continuous deepening of automation technology in recent years, more and more industrial robots and manipulators appear in modern factories. These various, high-performance, safe and reliable automation equipment can not only completely replace the original repeated manual operations, but also can be used in various complex and harsh environments, greatly reducing the labor intensity of workers, ensuring safe production, and improving production efficiency. , Saving labor costs. [0003] However, since manipulators and robots are mostly large and heavy, and work coverage is large, safety and reliability is one of the most important factors to measure the quality of robots. Usually, the normally closed contact of the emergency stop button is connected in series in the power supply ...

AI Technical Summary

Problems solved by technology

[0004] In view of the above situation, in order to overcome the defects of the prior art, the purpose of the present invention is to provide an emergency stop circuit for an anti-mistouch robot, which effectively solves the problem that the emergency stop button is accidentally touched during use, which will cause accidental shutdown.

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