CN118352965B - Scram protection circuit and control system - Google Patents
Scram protection circuit and control system Download PDFInfo
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- CN118352965B CN118352965B CN202410781101.0A CN202410781101A CN118352965B CN 118352965 B CN118352965 B CN 118352965B CN 202410781101 A CN202410781101 A CN 202410781101A CN 118352965 B CN118352965 B CN 118352965B
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- 239000003990 capacitor Substances 0.000 claims description 46
- 238000001914 filtration Methods 0.000 claims description 15
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- 230000001960 triggered effect Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 12
- 230000005288 electromagnetic effect Effects 0.000 description 2
- 230000005355 Hall effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
- H02H3/02—Details
- H02H3/05—Details with means for increasing reliability, e.g. redundancy arrangements
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H47/00—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current
- H01H47/001—Functional circuits, e.g. logic, sequencing, interlocking circuits
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H47/00—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current
- H01H47/002—Monitoring or fail-safe circuits
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Abstract
The application discloses an emergency stop protection circuit and a control system, and relates to the technical field of circuit control; the emergency stop protection circuit includes: the receiving module receives the emergency stop signal; the switching tube module is connected with the receiving module; the power supply module comprises a first power supply and a second power supply; the first power supply supplies power to the emergency stop protection circuit; the second power supply supplies power to an executing mechanism connected with the emergency stop protection circuit; the relay module comprises a first relay and a second relay which are connected in parallel; and one end of the relay detection module is connected with the relay module, and the other end of the relay detection module is connected with the switch tube module. The relay module is formed by connecting two relays in parallel, and when one relay is damaged, the other relay works normally to finish the emergency stop action; whether the relay module is damaged or not is detected through the relay detection module, the actuating mechanism is powered off, and safety is improved.
Description
Technical Field
The application relates to the technical field of circuit control, in particular to an emergency stop protection circuit and a control system.
Background
The existing scram circuit is arranged on the receiver, and when the transmitter sends out the scram signal, the scram circuit is triggered after receiving the scram signal.
However, after the transmitter sends out the scram signal, the scram circuit is not triggered; the user cannot determine that the receiver does not receive the scram signal or the scram loop is damaged; and the existing scram circuit adopts a relay to complete scram action, is easy to damage and has poor safety performance.
Disclosure of Invention
In order to solve the above problems, the present application provides an scram protection circuit comprising:
The receiving module receives the emergency stop signal and processes the emergency stop signal;
the switching tube module is connected with the receiving module and adjusts the working state based on the processed emergency stop signal;
the power supply module comprises a first power supply and a second power supply; the first power supply supplies power to the emergency stop protection circuit; the second power supply supplies power to an executing mechanism connected with the emergency stop protection circuit; the power supply module is connected with the switching tube module to supply power for the switching tube module;
The relay module comprises a first relay and a second relay which are connected in parallel; the power supply module is connected with the relay module to supply power for the relay module;
The relay detection module is connected with one end of the relay detection module, and the other end of the relay detection module is connected with the switch tube module; the relay detection module changes an output signal based on the working state of the relay module, the switching tube module adjusts the working state based on the output signal, and the power supply module adjusts the power supply state based on the working state of the switching tube module.
In an embodiment, the receiving module includes a receiving unit, where the receiving unit includes a first resistor, a first capacitor, a second capacitor, a third resistor, and a first switch tube; one end of the first resistor is connected with the scram signal input end, and the other end of the first resistor is connected with one end of the first capacitor; the first capacitor is connected with the second capacitor in parallel; one end of the third resistor is connected with the other end of the first resistor, and the other end of the third resistor is grounded; the second end of the first switch tube is connected with a third power supply, and the first end of the first switch tube is connected with the other end of the first capacitor; the direct current part of the emergency stop signal is grounded through the first resistor and the third resistor, and the alternating current part of the emergency stop signal flows to the first end of the first switch tube through the first resistor, the first capacitor and the second capacitor which are connected in parallel.
In an embodiment, the receiving module further comprises a filtering unit; the filtering unit comprises a fifth resistor and a first filter; one end of the fifth resistor is connected with the third end of the first switching tube, the other end of the fifth resistor is connected with the input end of the first filter, and the output end of the first filter is connected with the switching tube module.
In an embodiment, the switching tube module comprises a second switching tube and a third switching tube; the first end of the second switching tube is connected with the output end of the first filter; the second end of the second switching tube is connected with the power supply module, and the third end of the second switching tube is grounded; the first end of the third switching tube is connected with the relay detection module, the second end of the third switching tube is connected with the first end of the second switching tube, and the third end of the third switching tube is grounded; the on-state of the second switching tube is changed based on the output signal of the first filter and/or the on-state of the third switching tube.
In an embodiment, the power supply module further includes a ninth resistor and a fourth switching tube; the second end of the fourth switching tube is connected with the first power supply, the third end of the fourth switching tube is connected with the second power supply, and the first end of the fourth switching tube is connected with one end of the ninth resistor; the other end of the ninth resistor is connected with the first power supply, and one end of the ninth resistor is connected with the second end of the second switch tube; and adjusting the second power supply to be the power supply state of the executing mechanism based on the conduction state of the second switching tube.
In one embodiment, the first relay includes a first diode, a first coil, a first switch, a first normally closed contact, and a first normally open contact; the second relay comprises a second diode, a second coil, a second switch, a second normally-closed contact and a second normally-open contact; one end of the first coil is connected with the positive electrode of the first diode, and the other end of the first coil is connected with the negative electrode of the first diode; one end of the first coil and the anode of the first diode are connected with the relay detection module; the other end of the first coil is connected with a first normally open contact, and the other end of the first coil is connected with a second normally closed contact.
In one embodiment, one end of the second coil is connected with the anode of the second diode, and the other end of the second coil is connected with the cathode of the second diode; one end of the second coil and the anode of the second diode are connected with the relay detection module, the other end of the second coil is connected with the first normally-closed contact, and the other end of the second coil is connected with the second normally-open contact.
In one embodiment, the relay detection module includes a relay detection unit and a fault feedback unit; the relay detection unit is connected with the fault feedback unit; the relay detection unit comprises a NAND gate, a second filter component, a third filter component and a fifth switch tube; the first input end of the NAND gate is connected with the anode of the first diode; the first input end of the NAND gate is connected with the anode of the second diode; the second input end of the NAND gate is connected with the second end of the fifth switching tube; the output end of the NAND gate is connected with the first end of the third switching tube; the second end of the fifth switching tube is connected with a fourth power supply, the input end of the second filtering component is connected with the cathode of the second diode, and the input end of the third filtering component is connected with the cathode of the first diode; the first output end of the second filter component and the first output end of the third filter component are connected with the first end of the fifth switch tube, and the second output end of the second filter component and the second output end of the third filter component are connected with the third end of the fifth switch tube.
In an embodiment, the fault feedback unit includes a sixth switching tube and a seventh switching tube; the first end of the sixth switching tube is connected with the second end of the fifth switching tube, and the second end of the sixth switching tube is connected with a fourth power supply; the third end of the sixth switching tube is connected with the first end of the seventh switching tube; the second end of the seventh switching tube is connected with a fourth power supply; the third end of the seventh switching tube is grounded.
In order to solve the above problems, the present application further provides a control system, including:
A receiver comprising an actuator and an emergency stop protection circuit as above; the actuating mechanism is connected with the emergency stop protection circuit, and the actuating mechanism is powered off when the emergency stop protection circuit is triggered;
the transmitter can send an emergency stop signal for the emergency stop protection circuit to recognize, and can also send an execution signal for the execution mechanism to recognize.
The beneficial effects of the application are as follows: unlike the prior art, the scram protection circuit of the present application includes: the receiving module receives the emergency stop signal; the switching tube module is connected with the receiving module; the power supply module comprises a first power supply and a second power supply; the first power supply supplies power to the emergency stop protection circuit; the second power supply supplies power to an executing mechanism connected with the emergency stop protection circuit; the relay module comprises a first relay and a second relay which are connected in parallel; and one end of the relay detection module is connected with the relay module, and the other end of the relay detection module is connected with the switch tube module. The relay module is formed by connecting two relays in parallel, and when one relay is damaged, the other relay works normally to finish the emergency stop action; whether the relay module is damaged or not is detected through the relay detection module, the actuating mechanism is powered off, and safety is improved.
Drawings
For a clearer description of the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it will be apparent that the drawings in the description below are only some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
FIG. 1 is a schematic diagram of a first embodiment of an emergency stop protection circuit according to the present application;
FIG. 2 is a schematic circuit diagram of a first embodiment of an emergency stop protection circuit according to the present application;
FIG. 3 is a schematic diagram showing steps of the emergency stop protection circuit according to the present application after receiving an emergency stop signal;
FIG. 4 is a schematic diagram showing steps of a NAND gate first input low level in a power-down protection circuit according to the present application;
FIG. 5 is a schematic diagram showing steps of a low level of a second input terminal of a NAND gate in the power-down protection circuit according to the present application;
FIG. 6 is a schematic diagram of a control system according to an embodiment of the present application.
Detailed Description
The following are specific embodiments of the present application and the technical solutions of the present application will be further described with reference to the accompanying drawings, but the present application is not limited to these embodiments.
The emergency stop protection circuit provided by the application is particularly applied to electrical equipment which is required to be controlled by an industrial remote control system, for example, in the construction process of a building, the forward and backward directions of an excavator are controlled by a transmitter, the swinging direction of a mechanical arm is controlled, and the like; during the forward process of the excavator, the condition that passers-by exists in the forward path of the excavator possibly exists, and a worker is required to send out an scram signal through a transmitter so that the scram protection circuit triggers the excavator to stop in time. Of course, in other embodiments, the emergency stop protection circuit may be specifically disposed in any other reasonable electrical device such as a crane, a mining machine, an automobile crane, and a concrete pump truck, which is not limited in this aspect of the application.
Referring to fig. 1-2, fig. 1 is a schematic structural diagram of a first embodiment of an emergency stop protection circuit according to the present application; fig. 2 is a circuit schematic diagram of a first embodiment of the emergency stop protection circuit provided by the present application.
In the present embodiment, the scram protection circuit 10 includes: a receiving module 11, a switching tube module 12, a power supply module 13, a relay module 14 and a relay detection module 15.
Specifically, the receiving module 11 receives the scram signal; the emergency stop signal sent by the transmitter is transmitted to the emergency stop protection circuit 10, and the emergency stop signal can be identified by the emergency stop protection circuit 10; the receiving module 11 receives the scram signal and processes the scram signal; the emergency stop signal sent by the transmitter can be controlled by adopting pulse, so that the damage of an I/O port is effectively prevented, and the false touch of the relay module 14 is avoided; for example, the scram signal may be a square wave of 1 KHZ.
The switching tube module 12 is connected with the receiving module 11, and the switching tube module 12 comprises a second switching tube Q2; after the receiving module 11 receives the scram signal transmitted by the transmitter, the receiving module 11 transmits the processed scram signal to the second switching tube Q2; in the embodiment, the second switching tube Q2 is an NPN triode, and the scram signal is transmitted to the base electrode of the second switching tube; the scram signal pulls up the voltage of the base electrode of the second switching tube Q2, the second switching tube Q2 is conducted, and then the fourth switching tube Q4 is disconnected, so that scram action is achieved.
In other embodiments, the scram signal may be a low level signal, and the second switching tube Q2 may be a PNP transistor; similarly, the second switching tube Q2 may be an electronic element such as a MOS tube that controls on/off based on an input signal, which is not limited herein.
The power supply module 13 includes a first power source V1 and a second power source V2; the first power supply V1 supplies power to the emergency stop protection circuit 10, and the second power supply V2 supplies power to an executing mechanism connected with the emergency stop protection circuit 10; the power supply module 13 is connected with the switching tube module 12 to supply power for the switching tube module 12; the power supply module 13 comprises a fourth switching tube Q4, when the second switching tube Q2 in the switching tube module 12 is turned on, the fourth switching tube Q4 is turned off, and the second power supply V2 stops supplying power to an executing mechanism connected with the emergency stop protection circuit 10; in this embodiment, the fourth switching tube Q4 is a PMOS tube, a source electrode of the fourth switching tube Q4 is connected to the second power source V2, and a gate electrode of the fourth switching tube Q4 is connected to a collector electrode of the second switching tube Q2; the second switching tube Q2 is turned on, resulting in the gate voltage of the fourth switching tube Q4 being higher than the source voltage, the fourth switching tube Q4 being turned off, and the second power source V2 stops supplying power to the actuator connected to the scram protection circuit 10.
In other embodiments, the fourth switching tube Q4 may be an NMOS tube or a triode, and the like, which will not be described herein.
The relay module 14 includes a first relay and a second relay connected in parallel with each other; the power supply module 13 is connected with the relay module 14 and supplies power to the relay module 14, specifically, the relay module 14 is powered by the first power supply V1, and in this embodiment, both the first relay and the second relay adopt electromagnetic relays; the relay module 14 is powered by a first power supply V1, so that the coil of the first relay and the coil of the second relay flow current to generate electromagnetic effect; the relay is switched from the normally-closed contact to the normally-open contact, after the relay is powered off, the electromagnetic effect disappears, the relay is reset through a spring, and the normally-open contact is switched to the normally-closed contact; after the relay is electrified, the minimum value of the current required for switching from the normally closed contact to the normally open contact is the attraction current, and the current generated by the first power supply V1 for supplying power to the relay module 14 is larger than the attraction current corresponding to the relay module 14. In this embodiment, the relay module 14 employs an electromagnetic relay, and in other embodiments, the relay module 14 may employ a hall effect relay, a polarized relay, or the like.
One end of the relay detection module 15 is connected with the relay module 14, and the other end of the relay detection module 15 is connected with the switch tube module 12; the relay detection module 15 changes the output signal based on the operation state of the relay module 14, the switching tube module 12 adjusts the operation state based on the output signal, and the power supply module 13 adjusts the power supply state based on the operation state of the switching tube module 12; for example, the relay detection module 15 detects that the relay module 14 cannot work normally, and the relay detection module 15 outputs a signal to turn on the second switching tube Q2, so that the fourth switching tube Q4 is turned off, and the second power supply V2 stops supplying power to an executing mechanism connected to the emergency stop protection circuit 10, so as to realize an emergency stop action.
In summary, the emergency stop protection circuit provided by the present application includes: the receiving module receives the emergency stop signal; the receiving module comprises a receiving unit and a filtering unit; the switching tube module is connected with the receiving module; the power supply module comprises a first power supply and a second power supply; the first power supply supplies power to the emergency stop protection circuit; the second power supply supplies power to an executing mechanism connected with the emergency stop protection circuit; the power supply module is connected with the switch tube module; the relay module comprises a first relay and a second relay which are connected in parallel; and one end of the relay detection module is connected with the relay module, and the other end of the relay detection module is connected with the switch tube module. The emergency stop protection circuit receives the emergency stop signal to directly power off the executing mechanism, and the relay detection module detects whether the relay module is damaged or not, so that the executing mechanism is powered off, and the safety is improved.
In an embodiment, the receiving module 11 comprises a receiving unit; the receiving unit comprises a first resistor R1, a first capacitor C1, a second capacitor C2, a second resistor R2, a third resistor R3, a fourth resistor R4 and a first switching tube Q1.
One end of a first resistor R1 is connected with the scram signal input end, and the other end of the first resistor R1 is connected with one end of a first capacitor C1; the first capacitor C1 is connected with the second capacitor C2 in parallel; one end of the second resistor R2 is connected with the other end of the first capacitor C1, and the other end of the second resistor R2 is connected with the first end of the first switch tube Q1; one end of the third resistor R3 is connected with the other end of the first resistor R1, and the other end of the third resistor R3 is grounded; the second end of the first switching tube Q1 is connected with a third power supply V3; one end of the fourth resistor R4 is connected with the second end of the first switching tube Q1, and the other end of the fourth resistor R4 is connected with the first end of the first switching tube Q1.
The scram signal transmitted by the transmitter 20 includes a direct current portion and an alternating current portion; the direct current part is grounded through a first resistor R1 and a third resistor R3; the alternating current part turns on a first switching tube Q1 through a first resistor R1, a first capacitor C1 and a second capacitor C2; the first switching tube Q1 is a PNP triode, the first end of the first switching tube Q1 is a base electrode, the second end is a collector electrode, and the third end is an emitter electrode; the second resistor R2 is a current limiting resistor of the first switching tube Q1 and is used for preventing the first switching tube Q1 from being damaged; the fourth resistor R4 is a pull-up resistor of the first switching tube Q1, and the function and principle of setting the pull-up resistor by the triode are common knowledge of those skilled in the art, and are not described herein again.
The direct current signals in the scram signals are filtered through the first resistor R1 and the third resistor R3, so that the scram signals reaching the first switching tube Q1 are more stable; and the current limiting is realized through the second resistor R2, and the fourth resistor R4 is used as a pull-up resistor of the first switching tube Q1 to improve the stability of the first switching tube Q1.
In an embodiment, the receiving module 11 further comprises a filtering unit; the filtering unit comprises a fifth resistor R5 and a first filter; the first filter comprises a sixth resistor R6, a third capacitor C3 and a fourth capacitor C4.
One end of a fifth resistor R5 is connected with the third end of the first switching tube Q1, the other end of the fifth resistor R5 is connected with a sixth resistor R6, and the other end of the sixth resistor R6 is connected with the switching tube module 12; one end of the third capacitor C3 is connected with one side of the sixth resistor R6, which is close to the fifth resistor R5, and the other end of the third capacitor C3 is grounded; one end of the fourth capacitor C4 is connected to one side of the sixth resistor R6 away from the fifth resistor R5, and the other end of the fourth capacitor C4 is grounded.
After the receiving unit receives the scram signal, the first switching tube Q1 is opened; the sixth resistor R6, the third capacitor C3 and the fourth capacitor C4 form RC-pi type filtering; the output signal is filtered and then flows to the switching tube module 12; the filter circuit formed by one resistor and two capacitors is common knowledge and will not be described here again.
In other embodiments, RC-pi type filtering may be replaced with LC-pi type filtering, LC type filtering, etc.
In an embodiment, the switching tube module 12 includes a seventh resistor R7, an eighth resistor R8, a fifth capacitor C5, a second switching tube Q2, and a third switching tube Q3.
One end of the seventh resistor R7 is connected with the other end of the sixth resistor R6, and the first end of the second switching tube Q2 is connected with the output end of the first filter, namely the first end of the second switching tube Q2 is connected with the other end of the seventh resistor R7; the second end of the second switching tube Q2 is connected with the power supply module 13; namely, one end of the eighth resistor R8 is connected with the second end of the second switching tube Q2, and the other end of the eighth resistor R8 is connected with the power supply module 13; the third end of the second switching tube Q2 is grounded, one end of a fifth capacitor C5 is connected with one side of a seventh resistor R7 far away from the second switching tube Q2, and the other end of the fifth capacitor C5 is connected with the third end of the second switching tube Q2; the first end of the third switching tube Q3 is connected with the relay detection module 15, the second end of the third switching tube Q3 is connected with the first end of the second switching tube Q2, namely is connected with one side of the seventh resistor R7, which is close to the second switching tube Q2, and the third end of the third switching tube Q3 is grounded; changing the on state of the second switching tube Q2 based on the output signal of the first filter and/or the on state of the third switching tube Q3, for example, the first filter outputting an scram signal, the second switching tube Q2 being on; or the third switching tube Q3 is turned on, resulting in the second switching tube Q2 being turned on.
The seventh resistor R7 and the eighth resistor R8 are current limiting resistors of the second switching tube Q2, the seventh resistor R7 limits the base current of the second switching tube Q2, and the eighth resistor R8 limits the collector current of the second switching tube Q2 to prevent the second switching tube Q2 from being damaged; the fifth capacitor C5 is an emitter capacitor of the second switching tube Q2, and plays roles of signal coupling and DC removal. The third switching tube Q3 is an NPN triode, the first end of the third switching tube Q3 is a base electrode, the second end of the third switching tube Q3 is a collector electrode, and the third end of the third switching tube Q3 is an emitter electrode.
In an embodiment, the power supply module 13 includes a ninth resistor R9, a sixth capacitor C6, and a fourth switching tube Q4.
The second end of the fourth switching tube Q4 is connected with the first power supply V1, the third end of the fourth switching tube Q4 is connected with the second power supply V2, and the first end of the fourth switching tube Q4 is connected with one end of the ninth resistor R9; the other end of the ninth resistor R9 is connected with a first power supply V1; one end of the ninth resistor R9 is connected with the second end of the second switching tube Q2, namely one end of the ninth resistor R9 is connected with the other end of the eighth resistor R8; one end of the sixth capacitor C6 is connected to one end of the ninth resistor R9, and the other end of the sixth capacitor C6 is connected to the other end of the ninth resistor R9. The fourth switching tube Q4 is a PMOS tube, the first end of the fourth switching tube Q4 is a grid electrode, the second end of the fourth switching tube Q4 is a drain electrode, and the third end of the fourth switching tube Q4 is a source electrode; the second power supply V2 is adjusted to be in a power supply state of the executing mechanism based on the on state of the second switching tube Q2, for example, the second switching tube Q2 is turned on, the fourth switching tube Q4 is turned off, the second power supply V2 stops supplying power to the executing mechanism connected with the scram protection circuit 10, and scram action is realized.
The following describes the emergency stop signal received by the emergency stop protection circuit 10 in detail with reference to fig. 3, and as shown in fig. 3, fig. 3 is a schematic diagram illustrating steps of the emergency stop protection circuit according to the present application after receiving the emergency stop signal.
S11: the scram signal input receiving unit conducts the first switching tube Q1 and outputs the scram signal to the filtering unit;
s12, a filtering unit receives signals, filters the signals and transmits the signals to a switching tube module 12;
S13: the second switching tube Q2 receives signals, the base voltage is larger than the emitter voltage, and the second switching tube Q2 is conducted;
S14: the grid voltage of the fourth switching tube Q4 is higher than the source voltage, the fourth switching tube Q4 is disconnected, and the second power supply V2 stops supplying power to the executing mechanism.
In an embodiment, the first relay includes a first light emitting diode LEDD1, a tenth resistor R10, a first diode D1, a first coil X1, a first switch K1, a first normally closed contact 1, and a first normally open contact 2; the second relay comprises a second light emitting diode LEDD2, an eleventh resistor R11, a second diode D2, a second coil X2, a second switch K2, a second normally-closed contact 3 and a second normally-open contact 4.
The anode of the first light emitting diode LEDD1 is connected with a first power supply V1, and the cathode of the first light emitting diode LEDD1 is connected with a tenth resistor R10; one end of the first coil X1 is connected with the positive electrode of the first diode D1, and the other end of the first coil X1 is connected with the negative electrode of the first diode D1; one end of the first coil X1 and the anode of the first diode D1 are connected with the relay detection module 15; the other end of the first coil X1 and the cathode of the first diode D1 are connected with the first normally-open contact 2, and the other end of the first coil X1 and the cathode of the first diode D1 are connected with the second normally-closed contact 3.
The anode of the second light emitting diode LEDD2 is connected with the first power supply V1, and the cathode of the second light emitting diode LEDD2 is connected with the eleventh resistor R11; one end of the second coil X2 is connected with the positive electrode of the second diode D2, and the other end of the second coil X2 is connected with the negative electrode of the second diode D2; one end of a second coil X2 and the positive electrode of a second diode D2 are connected with a relay detection module 15, the other end of the second coil X2 and the negative electrode of the second diode D2 are connected with a first normally-closed contact 1, and the other end of the second coil X2 and the negative electrode of the second diode D2 are connected with a second normally-open contact 4.
The relay module 14 comprises a first relay and a second relay, and the first power supply V1 supplies power to the relay module 14, namely the first power supply V1 supplies power to the first relay and the second relay; when the first power supply V1 supplies power, the first light emitting diode LEDD1 and the second light emitting diode LEDD2 are used for detecting whether the first relay and the second relay are normally powered on; if the first light emitting diode LEDD1 lights, the first relay is powered on normally; if the second light emitting diode LEDD2 lights, the second relay is powered on normally; in order to facilitate distinguishing the working states of the first relay and the second relay, the first light emitting diode LEDD1 and the second light emitting diode LEDD2 adopt different light emitting diodes; for example, the first light emitting diode led d1 is a green lamp, and the second light emitting diode led d2 is a red lamp.
The first switch K1 of the first relay is initially arranged at the first normally closed contact 1, and the second switch K2 of the second relay is initially arranged at the second normally closed contact 3; after the first power supply V1 supplies power, a first switch K1 of a first relay is arranged on a first normally open contact 2, and a second switch K2 of a second relay is arranged on a second normally open contact 4; at the moment of power-on, the first power supply V1 flows to the second coil X2 through the first switch K1, and the first power supply V1 flows to the first coil X1 through the second switch K2; the first coil X1 and the second coil X2 have current passing through, under the action of electromagnetic induction, the first switch K1 is arranged on the first normally open contact 2, and the second switch K2 is arranged on the second normally open contact 4; at this time, the first power V1 flows to the first coil X1 through the first switch K1, and the first power V1 flows to the second coil X2 through the second switch K2.
In summary, by connecting the two relays in parallel to form the relay module 14, when one relay is damaged, the other relay can still normally work to complete the emergency stop action, thereby greatly improving the safety of the emergency stop protection circuit 10.
In one embodiment, the relay detection module 15 includes a relay detection unit and a fault feedback unit; the relay detection unit is connected with the fault feedback unit; the relay detection unit 15 includes a third diode D3, a fourth diode D4, a fifth diode D5, a nand gate &, a twelfth resistor R12, a thirteenth resistor R13, a fourteenth resistor R14, a second filter component, a third filter component, and a fifth switching tube Q5; the second filter assembly includes a fifteenth resistor R15 and a second filter 151, and the third filter assembly includes a sixteenth resistor R16 and a third filter 152.
The first input end of the NAND gate is connected with the anode of the first diode D1; the positive electrode of the third diode D3 is connected with the positive electrode of the first diode D1, and the negative electrode of the third diode D3 is connected with the first input end of the NAND gate; the first input end of the NAND gate is connected with the anode of the second diode D2; that is, the positive electrode of the fourth diode D4 is connected to the positive electrode of the second diode D2, and the negative electrode of the fourth diode D4 is connected to the first input terminal of the nand gate.
The second input end of the NAND gate is connected with the second end of the fifth switching tube Q5; the positive electrode of the fifth diode D5 is connected with the second end of the fifth switching tube Q5, and the negative electrode of the fifth diode Q5 is connected with the second input end of the NAND gate; the output of the nand gate is connected to the first end of the third switching tube Q3.
The NAND gate is only high in input and low in output; the NAND gate & input has a low level and the output is a high level; in this embodiment, the first relay is connected to the first input terminal of the nand gate through the third diode D3, and the second relay is connected to the first input terminal of the nand gate through the fourth diode D4.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating a step of low level of the first input terminal of the nand gate in the power-down protection circuit of the present application.
S21: the NAND gate is low;
s22: the NAND gate and the output end are in a high level, namely the first end of the third switching tube Q3 is in a high level, and the third switching tube Q3 is conducted;
s23: the third switching tube Q3 is conducted to pull up the voltage of the first end of the second switching tube Q2, and the second switching tube Q2 is conducted;
S24: the grid voltage of the fourth switching tube Q4 is higher than the source voltage, the fourth switching tube Q4 is disconnected, and the second power supply V2 stops supplying power to the executing mechanism.
Referring to fig. 5, fig. 5 is a schematic diagram illustrating a step of low level of the second input terminal of the nand gate in the power-down protection circuit of the present application.
S31: the NAND gate and the second input terminal are low level;
s32: the NAND gate and the output end are in a high level, namely the first end of the third switching tube Q3 is in a high level, and the third switching tube Q3 is conducted;
s33: the third switching tube Q3 is conducted to pull up the voltage of the first end of the second switching tube Q2, and the second switching tube Q2 is conducted;
S34: the grid voltage of the fourth switching tube Q4 is higher than the source voltage, the fourth switching tube Q4 is disconnected, and the second power supply V2 stops supplying power to the executing mechanism.
One end of a twelfth resistor R12 is connected with a fourth power supply V4, and the other end of the twelfth resistor R12 is connected with the first end of a fifth switching tube Q5; the thirteenth resistor R13 is connected with the fourteenth resistor R14, one end of the thirteenth resistor R13, which is far away from the fourteenth resistor R14, is connected with the fourth power supply V4, one end of the fourteenth resistor R14, which is far away from the thirteenth resistor R13, is connected with the second end of the fifth switching tube Q5, and the third end of the fifth switching tube Q5 is grounded; the first output end of the second filter 151 and the first output end of the third filter 152 are connected with the first end of the fifth switching tube Q5, and the second output end of the second filter 151 and the second output end of the third filter 152 are connected with the third end of the fifth switching tube Q5; the second filter 151 is connected in parallel with the fifteenth resistor R15, and the third filter 152 is connected in parallel with the sixteenth resistor R16; one end of a fifteenth resistor R15 is connected with the cathode of the second diode D2, and the other end of the fifteenth resistor R15 is connected with the third end of the fifth switching tube Q5; one end of a sixteenth resistor R16 is connected to the negative electrode of the first diode D1, and the other end of the sixteenth resistor R16 is connected to the third end of the fifth switching transistor Q5.
In an embodiment, the second filter 151 includes a sixth capacitor C6, a sixth diode D6, and a first electrolytic capacitor CD1; the third filter 152 includes a seventh capacitor C7, a seventh diode D7, and a second electrolytic capacitor CD2; the principle of forming a filter by two capacitors and a diode is common knowledge and will not be described in detail here.
In an embodiment, the fault feedback unit includes a sixth switching tube Q6, a seventh switching tube Q7, a seventeenth resistor R17, an eighteenth resistor R18, and a third light emitting diode LEDD3.
The second end of the sixth switching tube Q6 is connected with the fourth power supply V4, and the first end of the sixth switching tube Q6 is connected with one end of the thirteenth resistor R13, which is close to the fourteenth resistor R14; the third end of the sixth switching tube Q6 is connected with the first end of the seventh switching tube Q7; the second end of the seventh switching tube Q7 is connected with one end of a seventeenth resistor R17, and the other end of the seventeenth resistor R17 is connected with a fourth power supply V4; the third end of the seventh switching tube Q7 is grounded; the third end of the sixth switching tube Q6 is connected with one end of an eighteenth resistor R18, the other end of the eighteenth resistor R18 is connected with the positive electrode of a third light-emitting diode LEDD3, and the negative electrode of the third light-emitting diode LEDD3 is grounded.
The third light emitting diode LEDD3 indicates whether the fault feedback unit works normally, and the first light emitting diode LEDD3 is a light emitting diode different from the first light emitting diode LEDD1 and the second light emitting diode LEDD 2; for example, the first light emitting diode led d1 is a green light, the second light emitting diode led d2 is a red light, and the third light emitting diode led d3 is a yellow light; the fault feedback unit includes an output port 5, and outputs a fault of the relay module 14 to the CPU through the output port 5.
The application also provides a control system, please refer to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of the control system of the application; the control system includes a transmitter 20 and a receiver 30.
The receiver 30 comprises an actuator 31 and the scram protection circuit 10 as described in any one of the preceding claims; the actuating mechanism 31 is connected with the emergency stop protection circuit 10, and the actuating mechanism 31 is powered off when the emergency stop protection circuit 10 is triggered.
The transmitter 20 may transmit an emergency stop signal for identification by the emergency stop protection circuit 10, and the transmitter 20 may transmit an execution signal for identification by the execution mechanism 31.
To further enhance the safety performance of the scram protection circuit 10, the present application also provides the following safety limitations for the transmitter 20 that can signal a scram:
1. when the disconnection time of the transmitter 20 and the receiver 30 reaches the threshold time, the scram protection circuit 10 triggers and the executing mechanism 31 is powered off;
2. during operation of the transmitter 20, the transmitter 20 is suddenly powered off, and the scram protection circuit 10 is triggered within a threshold time;
3. When the battery voltage of the transmitter 20 cannot guarantee the normal operation of the transmitter 20, the transmitter 20 firstly sends out an emergency stop signal, and then the transmitter 20 is shut down.
If the threshold time is too low, the scram protection circuit 10 is likely to trigger by mistake; if the threshold time is too high, it is easy to cause the receiver 30 to operate in an uncontrollable condition for a long time; the present application is not limited to a specific value of the threshold time, for example, the threshold time is 2s.
Alternatively, the transmitter 20 may be any element capable of emitting an emergency stop signal and an execution signal; transmitter 20 includes, but is not limited to, electronics such as a remote control, a cell phone, and the like.
The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application or directly or indirectly applied to other related technical fields are included in the scope of the present application.
Claims (8)
1. An emergency stop protection circuit, characterized in that the emergency stop protection circuit comprises:
the receiving module receives the emergency stop signal and processes the emergency stop signal;
the switching tube module is connected with the receiving module and adjusts the working state based on the processed scram signal;
The power supply module comprises a first power supply and a second power supply; the first power supply supplies power to the emergency stop protection circuit; the second power supply supplies power to an executing mechanism connected with the emergency stop protection circuit; the power supply module is connected with the switching tube module to supply power for the switching tube module;
The relay module comprises a first relay and a second relay, wherein the first relay comprises a first diode, a first coil, a first switch, a first normally-closed contact and a first normally-open contact; the second relay comprises a second diode, a second coil, a second switch, a second normally-closed contact and a second normally-open contact; one end of the first coil is connected with the positive electrode of the first diode, and the other end of the first coil is connected with the negative electrode of the first diode; one end of the first coil and the anode of the first diode are connected with a relay detection module; the other end of the first coil is connected with the first normally-open contact, and the other end of the first coil is connected with the second normally-closed contact; one end of the second coil is connected with the positive electrode of the second diode, and the other end of the second coil is connected with the negative electrode of the second diode; one end of the second coil and the positive electrode of the second diode are connected with a relay detection module, the other end of the second coil is connected with the first normally-closed contact, and the other end of the second coil is connected with the second normally-open contact; the first relay and the second relay are mutually connected in parallel; the power supply module is connected with the relay module to supply power for the relay module;
The relay detection module is connected with one end of the relay detection module, and the other end of the relay detection module is connected with the switch tube module; the relay detection module changes an output signal based on the working state of the relay module, the switching tube module adjusts the working state based on the output signal, and the power supply module adjusts the power supply state based on the working state of the switching tube module.
2. The scram protection circuit of claim 1, wherein the receiving module comprises a receiving unit comprising a first resistor, a first capacitor, a second capacitor, a third resistor, and a first switching tube; one end of the first resistor is connected with the scram signal input end, and the other end of the first resistor is connected with one end of the first capacitor; the first capacitor is connected with the second capacitor in parallel; one end of the third resistor is connected with the other end of the first resistor, and the other end of the third resistor is grounded; the second end of the first switch tube is connected with a third power supply, and the first end of the first switch tube is connected with the other end of the first capacitor; the direct current part of the emergency stop signal is grounded through the first resistor and the third resistor, and the alternating current part of the emergency stop signal flows to the first end of the first switch tube through the first resistor, the first capacitor and the second capacitor which are connected in parallel.
3. The scram protection circuit as set forth in claim 2, wherein said receiving module further comprises a filtering unit; the filtering unit comprises a fifth resistor and a first filter; one end of the fifth resistor is connected with the third end of the first switching tube, the other end of the fifth resistor is connected with the input end of the first filter, and the output end of the first filter is connected with the switching tube module.
4. The scram protection circuit of claim 3, wherein the switching tube module comprises a second switching tube and a third switching tube; the first end of the second switching tube is connected with the output end of the first filter; the second end of the second switching tube is connected with the power supply module, and the third end of the second switching tube is grounded; the first end of the third switching tube is connected with the relay detection module, the second end of the third switching tube is connected with the first end of the second switching tube, and the third end of the third switching tube is grounded; and changing the conduction state of the second switching tube based on the output signal of the first filter and/or the conduction state of the third switching tube.
5. The scram protection circuit of claim 4, wherein the power module further comprises a ninth resistor and a fourth switching tube; the second end of the fourth switching tube is connected with the first power supply, the third end of the fourth switching tube is connected with the second power supply, and the first end of the fourth switching tube is connected with one end of the ninth resistor; the other end of the ninth resistor is connected with the first power supply, and one end of the ninth resistor is connected with the second end of the second switching tube; and adjusting the second power supply to be in a power supply state of the executing mechanism based on the conduction state of the second switching tube.
6. The scram protection circuit of claim 5, wherein the relay detection module comprises a relay detection unit and a fault feedback unit; the relay detection unit is connected with the fault feedback unit; the relay detection unit comprises a NAND gate, a second filter component, a third filter component and a fifth switch tube; the first input end of the NAND gate is connected with the anode of the first diode; the first input end of the NAND gate is connected with the anode of the second diode; the second input end of the NAND gate is connected with the second end of the fifth switching tube; the output end of the NAND gate is connected with the first end of the third switching tube; the second end of the fifth switch tube is connected with a fourth power supply, the input end of the second filter assembly is connected with the cathode of the second diode, and the input end of the third filter assembly is connected with the cathode of the first diode; the first output end of the second filter component and the first output end of the third filter component are connected with the first end of the fifth switch tube, and the second output end of the second filter component and the second output end of the third filter component are connected with the third end of the fifth switch tube.
7. The scram protection circuit of claim 6, wherein the fault feedback unit comprises a sixth switching tube and a seventh switching tube; the first end of the sixth switching tube is connected with the second end of the fifth switching tube, and the second end of the sixth switching tube is connected with the fourth power supply; the third end of the sixth switching tube is connected with the first end of the seventh switching tube; the second end of the seventh switching tube is connected with the fourth power supply; and the third end of the seventh switching tube is grounded.
8. A control system, comprising:
A receiver comprising an actuator and the scram protection circuit of any one of claims 1-7; the actuating mechanism is connected with the emergency stop protection circuit, and the actuating mechanism is powered off when the emergency stop protection circuit is triggered;
And the transmitter can send an emergency stop signal for the identification of the emergency stop protection circuit and can also send an execution signal for the identification of the execution mechanism.
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| CN202410781101.0A CN118352965B (en) | 2024-06-18 | 2024-06-18 | Scram protection circuit and control system |
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| CN202410781101.0A CN118352965B (en) | 2024-06-18 | 2024-06-18 | Scram protection circuit and control system |
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