CN103955160A - Safety protection module for industrial robot - Google Patents
Safety protection module for industrial robot Download PDFInfo
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- CN103955160A CN103955160A CN201410194050.8A CN201410194050A CN103955160A CN 103955160 A CN103955160 A CN 103955160A CN 201410194050 A CN201410194050 A CN 201410194050A CN 103955160 A CN103955160 A CN 103955160A
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Abstract
The invention discloses a safety protection module for an industrial robot. The safety protection module is characterized in that a servo signal is connected to a servo interlocking controller through a servo signal interface, the servo interlocking controller collects input information of an external interlocking interface and a sudden stopping interface and is connected to a multi-channel safety relay for logical judgment control, a control power source and the servo signal interface are connected into a servo braking circuit through a control power interface, and therefore logical judgment on the running status of the industrial robot and safety control over the running status of the industrial robot are achieved. Due to the adoption of the structure, a fault signal, a band-type brake signal and a peripheral interlocking signal of the industrial robot are monitored in real time, the safety control function is achieved, safety and reliability are achieved, meanwhile, the higher cost performance is achieved, and the production cost is lower.
Description
Technical field
The present invention relates to the security control field of industrial robot, particularly a kind of security protection module of industrial robot.
Background technology
The requirement improving along with scientific and technological progress with to the quality of production, industrial robot is widely used in each production line, but industrial robot needs a set of meticulous tight control system to carry out security control to it.
Robot application on current each production line is more and more, comprising world-famous robots such as KUKA, FUNUC, ABB.For the application of industrial robot, no matter from the viewpoint of device security, personal safety etc., all need to strengthen the safe class of industrial robot aspect electrical control, existing safety control system is all to rely on highly integrated security module to carry out logic control, cost is higher, is unfavorable for promoting on a large scale.
For the problems referred to above, provide a kind of novel security protection module ensureing that integrated reliably to have higher cost performance be the problem that prior art need to solve to its function simultaneously.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of security protection module of industrial robot, in the integrated reliable higher cost performance that has of its safety control function of guarantee simultaneously.
For achieving the above object, technical scheme of the present invention is that a kind of security protection module of industrial robot, is characterized in that: described security protection module is that servosignal passes through the servo chain controller of servosignal interface access; The outside chain interface of servo chain controller collection and the anxious hyperchannel safety relay that accesses when stopping interface input message carry out logic judgement and control; Control power supply and access in the lump servobrake circuit with servosignal interface after controlling power interface, thereby realize logic judgement and the security control to industrial robot running status.
Described servobrake circuit is that band-type brake power supply carries out logic judgement through band-type brake power supply detecting unit access contracting brake controller, and contracting brake controller is outwards exported and driven order by band-type brake interface.
Described band-type brake interface connects band-type brake pilot lamp simultaneously.
Described control power interface is connected to control power supply detecting unit and carries out Real-Time Monitoring to controlling power supply.
Described urgency is stopped interface and is connected peripheral power supply output interface simultaneously.
Described hyperchannel safety relay respectively input message rear drive main circuit control interface, chain pilot lamp, the pilot lamp interface of acquisition function option interface, teach box interface, guidance panel carries out security control to industrial robot.
Described servosignal comprises the signal of additional shaft.
A kind of security protection module of industrial robot; owing to adopting above-mentioned structure; the fault-signal of the present invention to industrial robot; band-type brake signal, peripheral interlocking signal carry out Real-Time Monitoring; play the function of security control; safe and reliable time, there is higher cost performance, become to produce cost relatively low.
Brief description of the drawings
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation;
Fig. 1 is the security protection module structured flowchart of a kind of industrial robot of the present invention;
In Fig. 1,1, control power interface; 2, servosignal interface; 3, hyperchannel safety relay; 4, contracting brake controller; 5, band-type brake power supply detecting unit; 6, band-type brake pilot lamp; 7, band-type brake interface; 8, main circuit control interface; 9, function option interface; 10, outside chain interface; 11, the anxious interface that stops; 12, chain pilot lamp; 13, pilot lamp interface; 14, guidance panel interface; 15, teach box interface; 16, peripheral power supply output interface; 17, control power supply detecting unit; 18, servo chain controller and pilot lamp.
Embodiment
The present invention is mainly by servo-controlled fault-signal; band-type brake signal, peripheral interlocking signal are introduced security protection module; peripheral chain safety signal adopts two-circuit passage; adopt highly reliable safety relay; through logic control judgement, output feeds back to servo and host controller, servo, peripheral chain while there is abnormal signal; security protection module output can be cut off the control output of robot, thereby plays the effect of protection.
Concrete as shown in Figure 1, the present invention is that servosignal passes through servosignal interface 2 and accesses servo chain controller 18; Servo chain controller 18 accesses hyperchannel safety relay 3 and carries out logic judgement control when gathering outside chain interface 10 and suddenly stop interface 11 input message; Control power supply and access in the lump servobrake circuit with servosignal interface 2 after controlling power interface 1, thereby realize, the logic of industrial robot running status is judged and security control.Servosignal comprises the signal of additional shaft.
To be band-type brake power supply access contracting brake controller 4 through band-type brake power supply detecting unit 5 to servobrake circuit carries out logic judgement, contracting brake controller 4 by band-type brake interface 7 outwards output drive order.Band-type brake interface 7 connects band-type brake pilot lamp 6 simultaneously.Control power interface 1 is connected to control power supply detecting unit 17 and carries out Real-Time Monitoring to controlling power supply.Suddenly stop interface 11 connects peripheral power supply output interface 16 simultaneously.
Hyperchannel safety relay 3 respectively input message rear drive main circuit control interface 8, chain pilot lamp 12, the pilot lamp interface 13 of acquisition function option interface 9, teach box interface 15, guidance panel 14 carries out security control to industrial robot.
The present invention includes security logic holding circuit, servo interface control circuit, servobrake circuit, servo alarm decision circuit, pilot lamp signal, peripheral interface circuit.Wherein security logic holding circuit is by introducing emergent stop signal, peripheral interlocking signal and the peripheral emergent stop signal of teach box; by binary channels logic judging circuit; control the break-make of servo primary power; reach under emergency and allowed robot motion, made the object of its state in being perfectly safe.
The warning message that servo interface control circuit mainly accesses servo controller judges by logic, under safe condition, according to servo ON state, sends band-type brake and enables and turn-off.
Servobrake circuit is introduced servo band-type brake power supply, by current detecting, according to the result of logical circuit, by the power supply of high power relay control band-type brake.
Servo alarm decision circuit is when driver is when wherein servo warning occurs for arbitrary axle, and machine produces servo fault alarm per capita, the equal band-type brake of 6 spindle motor, servo warning do not remove or fault unresolved before, robot cannot move, and guarantees safety.
Pilot lamp signal control power supply pilot lamp, each axle malfunction indicator lamp, safety interlocking pilot lamp, each axle band-type brake pilot lamp etc., are used for showing important state, are convenient to looking up the fault.
Peripheral interface circuit comprises: the chain interface of teach box, control power output interface, peripheral chain interface, main electric control interface, guidance panel interface, function option interface, pilot lamp interface, band-type brake power interface, each axle band-type brake interface and additional shaft interface etc.
By reference to the accompanying drawings the present invention is exemplarily described above; obviously specific implementation of the present invention is not subject to the restrictions described above; as long as the various improvement that adopted technical solution of the present invention to carry out, or directly apply to other occasion without improvement, all within protection scope of the present invention.
Claims (7)
1. a security protection module for industrial robot, is characterized in that: described security protection module is that servosignal passes through servosignal interface (2) and accesses servo chain controller (18); Servo chain controller (18) accesses hyperchannel safety relay (3) and carries out logic judgement control when gathering outside chain interface (10) and suddenly stop interface (11) input message; Control power supply by controlling power interface (1) afterwards and servosignal interface (2) accesses servobrake circuit in the lump.
2. the security protection module of a kind of industrial robot according to claim 1; it is characterized in that: servobrake circuit is that band-type brake power supply carries out logic judgement through band-type brake power supply detecting unit (5) access contracting brake controller (4), and contracting brake controller (4) is outwards exported and driven order by band-type brake interface (7).
3. the security protection module of a kind of industrial robot according to claim 2, is characterized in that: described band-type brake interface (7) connects band-type brake pilot lamp (6) simultaneously.
4. the security protection module of a kind of industrial robot according to claim 1, is characterized in that: described control power interface (1) is connected to control power supply detecting unit (17) and carries out Real-Time Monitoring to controlling power supply.
5. the security protection module of a kind of industrial robot according to claim 1, is characterized in that: described urgency is stopped interface (11) and connected peripheral power supply output interface (16) simultaneously.
6. the security protection module of a kind of industrial robot according to claim 1, is characterized in that: described hyperchannel safety relay (3) respectively acquisition function option interface (9), teach box interface (15), the input message rear drive main circuit control interface (8) of guidance panel (14), chain pilot lamp (12), pilot lamp interface (13) carries out security control to industrial robot.
7. the security protection module of a kind of industrial robot according to claim 1, is characterized in that: described servosignal comprises the signal of additional shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410194050.8A CN103955160A (en) | 2014-05-08 | 2014-05-08 | Safety protection module for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410194050.8A CN103955160A (en) | 2014-05-08 | 2014-05-08 | Safety protection module for industrial robot |
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| CN103955160A true CN103955160A (en) | 2014-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410194050.8A Pending CN103955160A (en) | 2014-05-08 | 2014-05-08 | Safety protection module for industrial robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104191117A (en) * | 2014-09-02 | 2014-12-10 | 洁定医疗器械（苏州）有限公司 | Tool system for automatically welding pressure container jacket |
| CN104460478A (en) * | 2014-11-11 | 2015-03-25 | 沈阳新松机器人自动化股份有限公司 | Monitoring method and device for band-type brake of industrial robot |
| CN105643637A (en) * | 2014-11-11 | 2016-06-08 | 沈阳新松机器人自动化股份有限公司 | Industrial robot motor band-type brake controller with safety monitoring device |
| CN105652726A (en) * | 2014-11-12 | 2016-06-08 | 沈阳新松机器人自动化股份有限公司 | Robot safety control apparatus |
| CN106346479A (en) * | 2016-11-16 | 2017-01-25 | 合肥欣奕华智能机器有限公司 | Controller and a safety protection system of robot |
| CN108185917A (en) * | 2018-04-23 | 2018-06-22 | 广东艾可里宁机器人智能装备有限公司 | Sweeping robot security protection system |
| WO2018120209A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | Mode switching warning circuit and method for robot, and robot |
| CN114310885A (en) * | 2021-12-27 | 2022-04-12 | 深圳市普渡科技有限公司 | Robot control method, robot control device, robot, and storage medium |
| WO2023077457A1 (en) * | 2021-11-05 | 2023-05-11 | 美的集团股份有限公司 | Safety control system and safety controller for industrial robot |
| WO2023077458A1 (en) * | 2021-11-05 | 2023-05-11 | 美的集团股份有限公司 | Safety control system for industrial robot and safety controller |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104191117A (en) * | 2014-09-02 | 2014-12-10 | 洁定医疗器械（苏州）有限公司 | Tool system for automatically welding pressure container jacket |
| CN104460478A (en) * | 2014-11-11 | 2015-03-25 | 沈阳新松机器人自动化股份有限公司 | Monitoring method and device for band-type brake of industrial robot |
| CN105643637A (en) * | 2014-11-11 | 2016-06-08 | 沈阳新松机器人自动化股份有限公司 | Industrial robot motor band-type brake controller with safety monitoring device |
| CN105652726A (en) * | 2014-11-12 | 2016-06-08 | 沈阳新松机器人自动化股份有限公司 | Robot safety control apparatus |
| CN106346479A (en) * | 2016-11-16 | 2017-01-25 | 合肥欣奕华智能机器有限公司 | Controller and a safety protection system of robot |
| WO2018120209A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | Mode switching warning circuit and method for robot, and robot |
| CN108185917A (en) * | 2018-04-23 | 2018-06-22 | 广东艾可里宁机器人智能装备有限公司 | Sweeping robot security protection system |
| WO2023077457A1 (en) * | 2021-11-05 | 2023-05-11 | 美的集团股份有限公司 | Safety control system and safety controller for industrial robot |
| WO2023077458A1 (en) * | 2021-11-05 | 2023-05-11 | 美的集团股份有限公司 | Safety control system for industrial robot and safety controller |
| CN114310885A (en) * | 2021-12-27 | 2022-04-12 | 深圳市普渡科技有限公司 | Robot control method, robot control device, robot, and storage medium |
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Address after: 241008 Anhui city of Wuhu province Jiujiang Economic Development Zone Wan Chun Road No. 96 Applicant after: Eft intelligent equipment Limited by Share Ltd Address before: 241008 Anhui city of Wuhu province Jiujiang District Road No. 8 leap Applicant before: Anhui Effort Intelligent Equipment Co., Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20140730 |